本論文基於T-S模糊模型(T-S fuzzy model)結合非奇異終端順滑模態控制(nonsingular terminal sliding mode control, NTSMC)，並將此技術應用在機械手臂的軌跡追蹤控制任務。此種設計方法可以使T-S模糊模型近似原始非線性系統，而大部分系統所使用的參數採取離線方式計算，以減輕即時線上運算的負擔。所應用的非奇異終端順滑模態控制以及第二型非奇異終端順滑模態控制(novel nonsingular terminal sliding mode control, NNTSMC)也保留了傳統順滑模態控制的優點，包括系統響應速度快、簡易建構以及對於系統干擾或模型不確定性具有強健性。與傳統順滑模態控制相比，非奇異終端順滑模態控制與第二型非奇異終端順滑模態控制可以較快速地使系統狀態在有限時間內到達控制目標點。並與相關控制技術所獲得的結果進行性能比較與分析，模擬結果充分的說明了此第二型非奇異終端順滑模態控制技術之優越性。

This thesis studies the Takagi-Sugeno (T–S) fuzzy system designs by using nonsingular terminal sliding mode control (NTSMC). The analytic results are employed to the study of tracking control of a two-link robot. The design schemes can make T-S fuzzy models approximate the original nonlinear system, and most of the T-S parameters can be offline computed to alleviate online computational burden. Both of the nonsingular terminal sliding mode control and novel nonsingular terminal sliding mode control (NNTSMC) can keep the merits of traditional sliding mode control (SMC), including fast response, easy implementation, and robustness to disturbances/uncertainties. In comparison to SMC, both NTSMC and NNTSMC can make the system states faster reach the control objective point on the sliding surface in a finite amount of time. Finally, Simulation results demonstrate the benefits of the proposed scheme.

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