Fuzzy switching for multiple model adaptive control in manipulator robot

In this paper, fuzzy logic is used to perform switching controllers for Multiple Model Adaptive Control (MMAC) in manipulator robot. In the cases which uncertainty bounds of system’s parameters are large, the performance and stability issue of system are considerable concerns. Multiple Model Adaptive Control approach can be useful method to stabilize these kinds of systems. In this control method, the uncertainty bound is divided into several smaller bounds. As a result, the process of stabilization would be streamlined. In this regard, one estimation is obtained for uncertain parameter in every minor bound, and based on estimation errors designed controller can alter. In order to avoid switching controllers and pertinent challenges a summation of controllers with coefficient tuned by fuzzy logic is considered. Simulation results substantiate the efficacy of this method.