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Applied Bionics and Biomechanics
Volume 5 (2008), Issue 1, Pages 33-46

Adaptive Fuzzy-Lyapunov Controller Using Biologically Inspired Swarm Intelligence

Alejandro Carrasco Elizalde and Peter Goldsmith

Department of Mechanical and Manufacturing Engineering, University of Calgary, 2500 University Drive N. W., Canada

Received 24 February 2008

Copyright © 2008 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.