title: A fuzzy adaptive variable structure controller with applications to robot manipulators.
abstract: A new adaptive fuzzy control algorithm is developed in this paper, which has a regular fuzzy controller and a supervisory control term. This control algorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design is simple, in the sense that both the membership functions and the rule base are simple, yet generic. It can be applied to a large class of robotic and other mechanical systems.
authors.affiliation: Dept. of Electr. & Comput. Eng., Houston Univ., TX.
authors.forename: Y C
authors.initials: YC
authors.lastname: Hsu
authors.forename: G
authors.initials: G
authors.lastname: Chen
authors.forename: H X
authors.initials: HX
authors.lastname: Li