一般的伺服氣壓缸控制系統，不是於水平下作定位控制就是在垂直時作定位控制，氣壓缸本身都是在被固定的情況下完成控制，本文的實驗設備為以氣壓缸及步進馬達作為驅動器，組成簡單的極座標型機械手臂，嘗試研究氣壓缸本體在可旋轉的情形下，是否也可以做到精密定位控制，期許將來能夠做到執行簡單動作的精密定位機械手臂，作為在危險環境或特殊情況下需要精密定位時的機械手臂。

　　本文提出一個自調式模糊控制器，期望同時改善整個系統的暫態和穩態響應，所採取的自調策略分為二階段，第一階段根據受控系統的輸出來調整模糊控制器的推論規則庫，第二階段則將系統的位置誤差及位置誤差變化率輸入至另一組推論規則計算，可得到一即時增益更新因子 用以作為Gu係數的微調，採用此種方式最大的特點為參數的調整不受授控系統任何參數的影響，而是在每一取樣時間根據系統當時的位置誤差及位置誤差變化率計算出Gu的微調量。

　　In general, pneumatic servo control system is implemented in the way of fixing pneumatic cylinder at either horizontal axis or vertical axis. This paper attempts to study bi-axial position control using a pneumatic cylinder and a stepping motor as actuators.
　　A self-tuning fuzzy logic controller is presented. Depending on the process trend, the output scaling factor of controller is modified on-line by an real-time gain updating factor . The value of real-time gain factor is determined from a rule-base defined on error and change of error of the controlled variable. The most important point to note is that real-time gain factor is not dependent in any way, on any process parameter. The value of real-time gain factor depends only on the instantaneous process states .Hence the proposed controller is process independent.

[1] B. W. Anderson, ‘The analysis and design of pneumatic systems” ,John Willey & Sons Inc. ,New York, 1967.

[2] J.J. Shearer, "The study of pneumatic process in the continous control of motion with compressed air-I" ,ASME Trans. , pp. 233-242, 1956.

[3] Z.J. Lansky, Lawrence F. Schrader, Jr,"Industrial pneumatic control"， M. Dekker , New York，1986

[4] L. A. Zadeh, "Fuzzy sets" ,Information and Control, Vol. 8, pp. 338-353, 1965

[5] E. Mamdani, "Application of fuzzy algorithm for control of simple dynamic plant" ,Proc. IEE, Vol. 121, No. 12, pp. 1585-1588 , 1974

[6] Tong,R.M. “An Annotated Bibliography of Fuzzy Control”, In Industrial Applications of Fuzzy Control, M. Sugeno, Ed.
North-Holland,1985,pp.249-269.

[7] Han-Xiong Li and H. B. Gatland “Conventional Fuzzy Control and Its Enhancement” IEEE Transactions on systems,Man,and cybernetics,vol.26,no.5.october 1996.

[8] Mocloy & Martin, “Control of Fluid Power”, 2nd ed., Ellis Horwood Limited , 1980

[9] J.L. Shearer ,”Study of Pneumatic Processes in the Continuous of Motion with Compressed Air,Ⅰ,Ⅱ” , Trans. ASME , Feb. 1956 , pp.233-249

[10] Holmblad,L.P.,and Ostergaard,.J.J “Control of a Cement Kiln by Fuzzy Logic,” Fuzzy Information and Decision Process,pp.389-399,1982.

[11] Holmblad,L.P.,and Ostergaard,J.J. ”Control of a Cement Kiln by Fuzzy Logic”, In Fuzzy Information and Decision Processes, M.M. Gupta and E. Sanchez, Eds. North-Holland,
1982,pp.389-399.

[12] Mamdani,E.H. “Twenty Years of Fuzzy control:Experiences Gained and Lessons Learnt”,proc. Of First IEEE Int.Conf.
on Fuzzy Systems,pp. 339-344,1993

[13] C. C. Lee, "Fuzzy logic in control systems: fuzzy logic controller -Part I" ,IEEE Trans. SMC, Vol. 20, No. 2, pp. 404-418, 1990.

[14] C. C. Lee, "Fuzzy logic in control systems: fuzzy logic controller -Part II" ,IEEE Trans. SMC, Vol. 20, No. 2, pp. 419-435, 1990.

[15] L. A. Zadeh, "Outline of a new approach to the analysis comples systems and decision processes" ,IEEE Trans. Syst. Man Cybern. ,Vol. SMC-3, No. 1, pp. 28-44, 1973

[16] Y. F. Li & C. C. Lau, "Development of fuzzy algorithms for servo systems" ,IEEE Control Systems Magazine, Vol. 9, No. 3, pp. 65-72, 1989

[17] Castro, J.L. “Fuzzy Logic Controllers Are Universal Approximators”, IEEE Trans. Systems, Man, and Cybernetics,
vol.25, no.4,pp.629-635,1995.

[18] 王進德、蕭大全，”類神經網路與模糊控制理論入門”，全華科技，民83

[19] Yasunobu, P.,and Miamoto, P. “Automatic Train Operation by Predictive Fuzzy Control”, In Industrial Applications of Fuzzy Control, Sugeno, Ed. Amsterdam, 1985, pp.1-18

[20] Li-Xin Wang , ”Adaptive Fuzzy System and Control：Design and Stability Analysis” , Prentice Hall , 1994

[21] D. Driankov , H. Hellendoorn , and M. Reinfrank , ”An Introduction to Fuzzy Control” , Springer-Verlag Berlin Heidelberg , 1993

[22] Zadeh,L.A. “A Fuzzy Set Interpretation of Linquistic Hedges”, J. of Cybernetics, vol.2,no. 3,pp.4-34,1972.

[23] Mamdani,E.H.”Advances in the Linguistic Synthesis of Fuzzy Controller”,Int. J.Man Machine Study,vol.8,no.6,
pp.669-678,1976.

[24] Chang,S.,and Zadeh,L. ”On Fuzzy Mapping and Control”,IEEE Trans. System, Man, and Cybernetics, vol.2,,no.1,pp.30-34
1994.

[25] Zadeh,L.A. “Fuzzy Sets”, Information and Control ,vol.8,
pp.338-353,1965.

[26] Mamdani,E.H.,and Assilian,S. “An Experiment in Linquistic Synthesis with a Fuzzy Logic Controller”, Int.J.
Man-Machine Study,vol 7,pp.1-13,1975.

[27] Rajani K. Mudi ,Nikhil R.Pal “A self-tuning Fuzzy PI Controller”, Fuzzy Sets and Systems,vol.115, pp327-338
2000.