A hybrid control architecture with a fuzzy supervisory controller and slave controller modules

A two-layered hybrid control architecture with multiple simple slave controllers as lower layer modules and a fuzzy supervisory controller implemented in the framework of the Kosko's bi-directional associative memory (BAM) as an upper layer module is proposed in this paper. The architecture can be looked at as a self-tuning procedure for parameters of the lower layer controllers based on heuristic knowledge that is implemented in the form of fuzzy if-then rules. Discussion includes an application of the proposed controller to a robot manipulator.