A NEW ADAPTIVE FUZZY CONTROLLER USING THE PARALLEL STRUCTURE OF FUZZYCONTROLLER AND ITS APPLICATION

The paper suggests a new fuzzy adaptive controller, which is able to s olve the problems of classical adaptive controllers and conventional f uzzy adaptive controllers. It explains the architecture of a fuzzy ada ptive controller using the robust property of a fuzzy controller. We p ropose a design procedure which can be carried out mathematically and systematically from the model of a controlled system as well as relate d mathematical theorems and their proofs are also given. The performan ce of the proposed adaptive control algorithm is analyzed through a de sign example and an experiment on hybrid force/position robot control system.