本論文提出一個穩定的強健階層式模糊滑動模式控制器應用於單輸入單輸出非線性系統並且擴展到多輸入多輸出非線性系統。系統控制的設計目標，能期使系統在有限時間快速收歛為零。本文所提強健階層式模糊滑動模式控制器，提供一種簡單的控制法則及搭配較少的模糊控制規則庫，適合的調整歸屬函數的輸出量，類似模糊邏輯適應的滑模控制器機制，並能使非線性系统達成更佳的漸近穩定效果。整體系統應用李亞普諾夫定理來保證系統的穩定度並且推導出滑動模式控制法則，並搭配巴氏引理保證全系統收歛至零。此法則可使各系統朝向滑動面前進並有效率地對抗擾動的控制。結合模糊邏輯器及滑模控制器的優勢，減緩控制器的顫動現象。其中把模糊規則庫架構在強健階層式模糊滑動面上，能使系統更強韌。最後電腦模擬結果顯示所提方法之適用性與有效性。

In this thesis, a stable robust hierarchical fuzzy sliding-mode controller (SRHFSMC) applied in the single-input single-output nonlinear system is expanded to multi-input multi-output nonlinear systems, where an unstable inverted pendulum and a robotic manipulator system are examined. A simple control law is provided to achieve asymptotic stability for a nonlinear system by using the minimum fuzzy control rules. By suitable adjusting the membership functions, the fuzzy logic adaptive sliding mode controller mechanism can enable the nonlinear system to achieve an even more stable effect. By using Lyapunov theory, the inferred sliding mode control law, and the matched Barbalat’s lemma, one can guarantee that the whole system errors converge to zero. The control law can drive the subsystems toward their sliding surface and reject the disturbance effective. The fuzzy rules are designed based on the stable robust hierarchical fuzzy sliding surface function and can cause the whole closed-loop system to be more robust. The proposed control scheme not only combines the advantages of FLC and SMC but also alleviates the chattering phenomenon. Computer simulation results demonstrate the validity and effectiveness of the proposed method.

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