Multiple model reference adaptive control algorithm using on-line fuzzy logic adjustment and its application to robotic manipulators

A new multiple model reference adaptive control algorithm using fuzzy logic adjustment of reference model parameters is presented. This algorithm has been developed to cope with complex and difficult environment conditions that the plant under control might undergo where a single reference model can not handle. The main concept of the proposed algorithm is to ensure such automatic change of the controller parameters so that they correspond to the current plant environment and provide an appropriate control action to improve the overall control system performance. The effectiveness of the proposed technique is demonstrated on the application of robotic manipulators using computer simulation studies. The results show that an improvement in the overall system performance is achieved using the proposed multiple model adaptive controller in comparison to a single model reference adaptive controller.