Abstract : A vexing problem in a conventional fuzzy control is the exponential growth in rules as the number of variables increases. This problem is avoided here by the introduction of a new, nonconventional analytic adaptive method for synthesising the fuzzy robot control. For this purpose a new adaptive analytic function is defined that determines the positions of the centres of the output fuzzy sets, instead of the definition of a fuzzy rule base. This function is adapted by changing the free fuzzy-set parameters. The proposed analytic approach to the synthesis of an adaptive fuzzy logic control, has been tested by a numerical simulation of an analytic adaptive fuzzy control system for a robot with four degrees of freedom.