摘 要
本文著重於雙軸旋轉氣壓缸驅動的機械手臂之軌跡控制研究。由於2D氣壓軌跡控制系統特有的非線性、時變及不確定性，本文將設計滑動模態控制器，來改善系統反應特性，達成軌跡追蹤的目的。經由不同實驗證明，滑動模態控制器的控制性能及適用性。

Abstract
This research is to concentrate on the trajectory control of a dual axial pneumatic robot arm driven by rotational actuators. Due to the nonlinear, time-varying and uncertainty of this control system, sliding mode controller is designed to improve the system performance, and achieve the purpose of trajectory tracking. Via different experiments, it can prove that the proposed controller possess good control performance and adaptability.

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