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A two-level hierarchical fuzzy controller is developed for a single flexible link. The second level of hierarchy monitors the behavior of the robot arm and extracts features such as Straight, Oscillatory, Gently Curved. This is accomplished using a fuzzy feature extraction technique which incorporates linecurvature data computed over a finite number of discrete points along the length of the robot arm. The line-curvature data are computed from measurements of a finite number of strain sensors. The fuzzy features such as Straight, Oscillatory, Gently Curved, the angular position measurements of the tip of the robot arm, and the torque of the motor constitute a basis of information for the first level of the hierarchical fussy controller.

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A two-level fuzzy hierarchical controller which utilizes both spatial and temporal measured data for control of distributed parameter systems is proposed in this paper. The control architecture consists of a high level feature extraction module and a low level controller for determining of the control input. In particular, a uniformly distributed aluminum heating slab is chosen to demonstrate the merits of the control architecture. A set point control simulation of the closed loop system demonstrates a convergent response.