In one hand, the Model Reference Adaptive Control (MRAC) architecture has been widely used in linear adaptive control field. The control objective is to adjust the control signal in a stable manner so that the plant’s output asymptotically tracks the reference model’s output. The performance will depend on the choice of a suitable reference model and the derivation of an appropriate learning scheme. While in the other hand, clusters analysis has been employed for many years in the field of pattern recognition and image processing. To be used in control the aim is being to find natural groupings among a set of collected data. The mean-tracking clustering algorithm is going to be used in order to extract the input-output pattern of rules from applying the suggested control scheme. These rules will be learnt later using the widely used Multi-layer perceptron neural network to gain all the benefits offered by those nets. A hierarchical neuro-fuzzy MRAC is suggested to control robots in a flexible manufacturing system. This proposed controller will be judged for different simulated cases of study to demonstrate its capability in dealing with such a system.

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[18] Warwick K., “New Ideas in Fuzzy Clustering and Fuzzy Automata,” in Proceeding of the International ICSC Symposium on Fuzzy Logic, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland, May 26-27, 1995. Kasim Al-Aubidy received his BSc and MSc degrees in control and computer engineering from the University of Technology, Iraq in 1979 and 1982, respectively, and the PhD degree in real-time computing from the University of Liverpool, England in 1989. He is currently an associative professor in the Department of Computer Engineering at Philadelphia University, Jordan. His research interests include fuzzy logic, neural networks, genetic algorithm and their real-time applications. He is the winner of Philadelphia Award for the best researcher in 2000. He is also a member of the editorial board of the Asian Journal of Information Technology. He has coauthored 3 books and published 47 papers on topics related to computer applications. Mohammed Ali received his BSc, MSc and PhD degrees in computer and control engineering from the University of Technology, Iraq in 1981, 1993, and 1998, respectively. He is currently an assistant professor in the Department of Computer Engineering at Philadelphia University, Jordan. His research interests include fuzzy logic, neural networks, image processing, and computer interfacing. He has 6 published papers related to neurofuzzy and real-time computer control applications.