A new two-input single-output fuzzy controller

Given a nonlinear tracking control problem, we define two generalized errors as inputs to form a novel two-input single-output fuzzy logic controller. For practical consideration, a GA-based alpha-beta filter is presented in front of the fuzzy controller to suppress noise and obtain smooth input signals. By incorporating this controller into a sliding mode control framework, we derived a simple and useful stable feedback control scheme. This control scheme is capable of improving significantly the tracking performance. A force-adaptive robot effector acting on various profiles of surfaces has been used as a simulative example to demonstrate its effectiveness. These results strongly suggest the proposed control scheme is efficent and easy to implement.