因應近年來各領域應用的需要，主從機器人必須於更狹小、惡劣的環境下回傳遠端環境資訊以便執行任務。然而受限於機構尺寸限制、量測有效範圍有限等原因，於從端架設力量感測器將造成系統架設困難。為了避免此問題，本研究使用滑動估測器取代力量感測器進行遠端操控系統力量估測並實現雙邊控制律。相較其他力量估測方法，此法能在具系統模型不確定性下，同時達到狀態與力量的估測。傳統上滑動估測器是以符號函數作為修正項以達到修正模型不確定性之效果。然而卻也易使狀態估測結果產生高頻顫振不利系統穩定度。本研究提出採用飽和函數做為估測器修正項，且利用Lyapunov穩定度理論證實滑動估測器可以指數收斂至邊界層。為了方便設計雙向系統控制律，本論文以模態分解法將主從端的系統模型投影至差模與共模空間；分別於差模空間設計位置控制器使主從端達到位置追跡，且於共模空間設計力量控制器以達到主從端力量追跡，再將其還原至原系統空間得到四頻道控制器。最後將此雙邊位置/力量控制律實現於一自製的手指力回饋主從遙控系統，實驗結果證實採用飽和函數確可獲得較佳之估測結果，所設計之雙邊四頻道控制器亦能有效進行主從位置/力量追跡控制。

Master-slave teleoperation systems must be operated at compact and harsh environments. However, using force sensor for feedback may not be feasible for real applications due to mechanism and measurement range constraints. To deal with this problem, a sliding observer is adopted to provide state and force estimation which also consider model uncertainties. Different from the sign function used in conventional sliding observer design, a saturation function is applied to alleviate the chattering phenomenon for robust term adjustment. Lyapunov theory is employed to confirm the stability of the proposed sliding observer design. For bilateral control design, this study applies modal decomposition concept to separately design position and force controller in two subsystems, which are referred to as differential mode and common mode. The experiments demonstrate that applying saturation function for sliding observer design provides better force estimation and the applied four channel control architecture can reach desired position/force master-slave tracking control performance.

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