本論文基於T-S模糊模型(T-S fuzzy model)結合新型態順滑面定義之快速終端順滑模態控制(fast terminal sliding mode control)與非奇異快速終端順滑模態控制(nonsingular fast terminal sliding mode control)來研究容錯控制(fault-tolerant control)。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。所提出的快速終端順滑模態控制以及非奇異快速終端順滑模態控制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，快速終端順滑模態控制與非奇異快速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。此外，透過新型態的順滑面結構設計能夠改善順滑面的非線性項在系統狀態小於零時出現非實數的現象。最後，將所提出的容錯控制方法應用於衛星姿態穩定控制上來說明此結合技術之優點。

Based on Takagi-Sugeno (T-S) fuzzy models, this thesis studies the fault-tolerant control (FTC) designs by using fast terminal sliding-mode control (FTSMC) and nonsingular fast terminal sliding-mode control (NFTSMC) with novel sliding surface types. 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 proposed FTSMC and NFTSMC 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 FTSMC and NFTSMC can make the system states faster reach the control objective point on the sliding surface in a finite amount of time. In addition, by the novel sliding surface schemes, the control methods can improve phenomenon that the nonlinear term in the sliding surface will appear to be a non-real number while the system states are less than zero. Finally, the application to a spacecraft attitude control is illustrated to demonstrate the benefits of the proposed FTC methods.

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