Simulation Hybrid Fuzzy control of SCARA Robot

This paper presents the simulation of a Hybrid Fuzzy Controller suitable for industrial applications. The developed Hybrid Fuzzy Controller consists of a weighted combination of the Direct Fuzzy Controller and Indirect Fuzzy Controller and a gradually activated supervisory controller. The unique feature of the Hybrid Fuzzy Controller is that no mathematical models of the plant are required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for the determination of the supervisory controller. The supervisor controller in the sense that all signals are bounded guarantees global stability of the closed-loop system. The approach of rapid prototyping is employed to implement the Hybrid Fuzzy Controller so as to control a Selectively Compliance Assembly Robot Arm. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system.