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In this paper, we explore the use of a fuzzy logic semi-stateless QoS approach for service differentiation in wireless ad hoc networks. The cooperation between the different functionalities and mechanisms of the proposed QoS approach reduces the average delay of data transmission. The proposed model, called FuzzyMARS, includes a set of mechanisms: admission control for real-time traffic, a fuzzy logic system for best-effort traffic regulation, and three schemes for real-time traffic regulation. FuzzyMARS architecture supports both real-time UDP traffic and best-effort UDP and TCP traffic. The simulation results show that FuzzyMARS can be suitable for applications with delay constraints. Under different traffic, channel, and mobility conditions, the average delay obtained is low and stable. This shows that the use of fuzzy logic in wireless ad hoc networks may add more flexibility and capability of operating with the imprecise information due to the mobility of nodes.