以影像視覺做為位移感測之回授，受限於取樣頻率較傳統接觸式感測器低，及影像處理造成的時間延遲，使得高頻疲勞試驗中，控制性能較不理想。但在低頻之試驗，取樣頻率不足與擷取延遲之影響較小，所以本文進行1Hz以下電液伺服試驗機之動態軌跡追蹤控制。利用滑動模式與模糊規則學習機構組成的自組織滑動模糊控制器，配合影像做為回授感測器，以定頻與變頻兩種訊號分析疲勞試驗的控制性能，由實驗結果驗證其可行性。

In the vision-based control system, it is constrained by sampling frequency of non-contact sensor and causes the delay of image processing. These are main reasons result the bad control performance in high frequency fatigue testing. These factors have no significant influence in lower frequency testing. Therefore, in experiments, vision-based electro-hydraulic fatigue testing machine is developed by self-organizing sliding mode fuzzy controller, which is mixed sliding mode with fuzzy rule and self learning, to carry out dynamic trajectory tracking control under 1Hz. Fixed frequency and narrow-band frequency are applied to analyze the control performance of this fatigue testing machine. Then it will verify the feasibility of using CCD camera.

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