摘 要
本論文運用雙肌肉氣壓缸作為制動器，配合機構而組成的2D氣壓機械手臂，並利用自組織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。並執行自組織模糊控制器與模糊滑動控制器在2D軌跡控制的實驗，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，並進一步分析自組織模糊控制器及模糊滑動控制器的控制特性與適用性。

Abstract
This thesis is to develop a 2D pneumatic arm control system, which is setup by two muscle actuators and kinematic linkages. Using the self-organizing fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually.
Then, both self-organizing fuzzy controller and sliding mode fuzzy controller 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 adaptation of self-organizing fuzzy controller and sliding mode fuzzy controller.

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