A two level hierarchical fuzzy controller for hyper-redundant cooperative robots

A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The control system contains two parts: the first component is a conventional controller which implements a control strategy based on the Lyapunov stability, and the second one is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established. Simulation results are presented and discussed.