本論文針對一動力源為直流伺服馬達之系統，在其輸出與環境接觸的情況下，利用函數近似法(Function Approximation Technique)近似不確定項，設計出一適應阻抗控制器，以解決傳統阻抗控制器必須獲得系統精確的模型，且系統之未知參數必須是非時變的，及需使用力感測器迴授接觸力等限制。為確保系統穩定度並選取估測器的更新率(Update Law)，我們引用了Lyapunov分析法來進行導證。最終，此法將實際應用於一直流伺服馬達驅動之繪圖機系統，並獲得預期之效能。

Several adaptive impedance controllers are proposed in this thesis based on the function approximation technique for a DC servo motor interacting with the environment. Stable compliant motion can be achieved without the need for the force feedback in the new strategy. Uncertainties in the plant parameters can also be tolerated. The closed loop stability is proved by using the Lyapunov-like technique. Experimental studies justify the feasibility of the proposed controllers.

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