A new adaptive fuzzy control algorithm is developed in this paper, which ha
s a regular fuzzy controller and a supervisory control term. This control a
lgorithm does not require the system model, but has stability assurance for
the closed-loop controlled system. The design Is simple, in the sense that
both the membership functions and the rule base are simple, yet generic. I
t can be applied to a large class of robotic and other mechanical systems.