ABSTRACT
This chapter explains the types of adaptive fuzzy controllers and their use in tracking control. It presents systematic procedures to employ fuzzy logic systems to design direct and indirect adaptive fuzzy tracking controllers. An adaptive fuzzy logic controller consists of a fuzzy logic system plus a parameter adaptation mechanism. Linguistic fuzzy information available from a human operator can be incorporated easily into the adaptive fuzzy controller. This is considered as the main advantage of adaptive fuzzy control over conventional adaptive control. Adaptive fuzzy controllers can be classified as direct and indirect. In direct adaptive fuzzy control, the fuzzy logic system can be used as controllers. In this type, linguistic fuzzy control rules can be directly incorporated into the controller. Another classification of adaptive fuzzy controller depends on whether the fuzzy logic system is linear or nonlinear in its adjustable parameters. The Lyapunov synthesis approach is employed to develop the adaptive law to update the parameters of the fuzzy systems.
