本論文運用雙撓性氣壓缸作為制動器，配合機構組成的2D 氣
壓機械手臂，利用滑動模糊控制理論、自組織模糊控制理論與自組織滑動模糊控制理論設計控制器，對機械手臂個別自由度的運動進行控制，並執行不同軌跡控制之無負載與負載實驗。藉由不同實驗，了解2D 氣壓機械手臂的暫態與穩態響應結果，進一步分析比較滑動模糊控制器、自組織模糊控制器及自組織滑動模糊控制器的控制特性。

In this thesis, a 2D pneumatic arm control system is setup by two muscle actuators and kinematic linkages. Using the sliding mode fuzzy controller, self-organizing fuzzy controller and self-organizing sliding mode fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually.
Then, Implementations of controllers are applied for various experiments of this 2D pneumatic arm control system. From process, experimental results, we can study this transient and steady state behaviors, and then justify their control accuracy and distinction of sliding mode fuzzy controller, self-organizing fuzzy controller and self-organizing sliding mode fuzzy controller.

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