Real-time hybrid adaptive fuzzy control of a SCARA

This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical model of the plant is required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for determination of the supervisory controller. The supervisor controller guarantees global stability of the closed-loop system in the sense that all signals are bounded. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. The HAFC is implemented in real-time through Real-Time Workshop (RTW). The performance of the HAFC was found to be superior and it matches favourably the simulation results.