一般系統在一自由度上運動時，因物理上Causality之限制，而僅可擇一進行位置或力量之控制。本文在此提出一新切換控制器，其以控制器間自動互作切換之方式，以結合此兩控制特性於一體。在自由空間運動控制與順應控制方面，設計一函數近似法為基礎之適應阻抗控制器及力量估測器，以估測處理系統中之未知項，且免除力量感測器之安裝；另採用傳統PID力量伺服控制器作為力量控制。藉此使系統達到兼具位置與力量控制之性能，且亦可平順渡過與環境接觸之過渡期。而其中並以一具有平滑反曲線的CMP函數(Cycloidal Motion Program)，作為可平緩調變其切換比例之依據。本文並首次提出「切換點」之概念，以明確表示其確切之切換時機。本研究除了以嚴謹之數學以驗證系統穩定性外，亦以實驗來測試此新切換控制器在不同環境下之有效性，並特以力量感測器回授來比較驗證力量估測器之準確度。

Control of any mechanical system in one degree of freedom has to satisfy the physical limitation called causality which gives the restriction that either force or position can be controlled. This thesis proposes a new switching controller to a voice coil motor for combining both control activities smoothly into one simple control strategy. An adaptive impedance controller based on the function approximation technique is designed for the free space tracking while a PID loop is constructed to provide force servo performance. A CMP sigmoidal function is employed to give smoothness of the transitions between two controllers. Rigorous mathematical analysis for the closed loop stability and the boundedness of internal signals is performed here. To justify the efficacy of the proposed design, an experimental setup is built and several experiments are conducted.

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