64 An Adaptive Fuzzy Control for a Multi-Degree-of-Freedom System

This work presents a comparative study of the application of fuzzy and adaptive fuzzy controller to address the problem of position control of a 3 degrees-of-freedom, linear, single-input-single-output (SISO) mass-spring-damper system. Fuzzy logic being a complementary technology most often uses verbal and linguistic information from experts. Unlike regular fuzzy controllers, adaptive fuzzy controllers adapt itself to the desired output. This paper shows how adaptation brings about better control of the system output over regular control technique. The simulation results of Adaptive Fuzzy Controller and Fuzzy Controller applied to the system and their performances are compared.