Design of a Fuzzy Logic Controller with a Variable Structure Based Supervisor

This paper presents a stable variable structure control scheme for achieving uniformly ultimately bounded control of a class of nonlinear systems. To reach a better performance, a generalized two-input single-output fuzzy controller is incorporated into the scheme to help improve dynamic responses when the trajectories enter into an ultimate bound. For practical consideration, we added a GA-based alpha-beta filter in front of the fuzzy controller to suppress noise and obtain smooth input signals. A force-adaptive robot effector acting on various profiles of surfaces has been used as a simulative example to demonstrate its effectiveness.