摘要

本文著重於氣壓平台之雙傾斜角度控制研究，將支撐平台的四個致動器視為四個獨立的系統，彼此之間的耦合作用力，將視為未知的外力。
爲了克服氣壓平台控制系統特有的非線性、時變及不確定性，本文將利用模糊滑動控制改善氣壓系統反應特性，達成定位的目的。模糊滑動控制是結合模糊控制與滑動模態控制理論，所設計出的模糊滑動平面控制器，利用滑動平面，簡化模糊規則庫，同時又不犧牲其控制性能。
最後由實驗證明，模糊滑動控制可使氣壓平台之雙傾斜角控制達到最佳的性能。

Abstract

In this thesis, based on the concept of decentralized control, the pneumatic platform system is separated into four subsystems, and structure interaction are considered as unknown external forces.
The pneumatic system suffers from highly nonlinear behavior due to the air compressibility, which makes it difficult to develop a model-based controller. The fuzzy sliding surface controller is developed by the fuzzy control and sliding mode control algorithms. It can simplify the complex rule base of fuzzy controller and enhance the system performance and robustness. Finally, experiments are studied to evaluate the fuzzy sliding surface control performance of various disturbances and its feasibility of proposed control algorithm.

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