在本論文之中，我們基於T-S模糊模型(T-S fuzzy model)同時結合了終端順滑模控制(terminal sliding mode control)與非奇異終端順滑模控制(nonsingular terminal sliding mode control)，來進行主動式容錯控制律的設計，而此結合技術仍保有T-S模糊模型以及終端順滑模控制、非奇異終端順滑模控制的優點；透過T-S模糊模型來近似原始非線性系統，使得大部分系統所使用到的參數都可以採取離線計算，進而減輕即時運算(online computation)的負擔。此外，終端順滑模控制不僅可保留對於模型不確定性(model uncertainties)或外在干擾(external disturbances)之強健性、快速響應、容易建構等特性，同時相較於一般傳統順滑模控制，終端順滑模控制能夠在有限時間內達到目標控制點，在系統狀態的收斂速度上明顯獲得改善。對於終端順滑模控制可能出現的奇異性問題，我們以非奇異終端順滑模控制來加以解決，其擁有上述終端順滑模控制之優點，亦能夠證明系統狀態將在有限時間內達到目標控制點。所提出之方法將運用於衛星姿態的容錯控制上，最後模擬結果清楚說明了結合技術之有效性。

This thesis studies the active fault-tolerant control design based on the Takagi-Sugeno (T-S) fuzzy system models, terminal sliding mode control (TSMC) and nonsingular terminal sliding mode control (NTSMC). This hybrid scheme can keep the advantages of both methods. By using the T-S fuzzy models to approximate the original nonlinear system, the online computation burden can be alleviated since most of the T-S parameters can be offline computed. Moreover, TSMC not only owns the merits, including robustness to uncertainties and/or disturbances, fast response, and easy implementation, but also performs better than conventional sliding mode control (SMC) since the system states of TSMC will converge in finite time to the control objective point. However, there might be singularity problem in the design of TSMC design. To solve the singularity problem, the NTSMC is proposed. The NTSMC can still guarantee that the system state converge in a finite amount of time. The proposed analytical results are also applied to the fault-tolerant control for the attitude stabilization of a spacecraft. Simulation results demonstrate the benefits of the proposed scheme.

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