A hybrid adaptive fuzzy approach for the control of cooperative manipulators

We examine in this article the complex problem of simultaneous position and internal force control in multiple cooperative manipulator systems. This is done in the presence of unwanted parametric and modeling uncertainties as well as external disturbances. A decentralized adaptive hybrid intelligent control scheme is proposed here. The controller makes use of a multi-input multi-output fuzzy logic engine and a systematic online adaptation mechanism. Unlike conventional adaptive controllers, the proposed one does not require a precise model of the system´s dynamics. The performance of the proposed controller is compared to that of a well known conventional adaptive controller.