於循跡控制的應用中，如何發展一優良的伺服控制技術，以降低追蹤誤差(Tracking Error)以及輪廓誤差(Contour Error) ，為達成高精密加工、製造的重要關鍵。一般而言，系統與環境造成的非線性現象及外部干擾量，為造成循跡控制精度不佳的主要原因。以常用於CNC工具機之線性伺服馬達為例，非線性現象及舉凡頓動力及摩擦力等外部干擾量，其隨環境變化的特性，常造成鑑別不易或補償不精確。為有效抑制系統外部干擾量的不良影響，本論文提出適應性非線性滑動模式控制器(Adaptive Nonlinear Sliding Mode Control, ADNSMC)，利用非均勻有理基底雲形線(Non-Uniform Rational B-Spline, NURBS) 發展一隨環境變化的干擾量線上鑑別補償機制，並藉由非線性滑動面的設計抑制傳統滑模控制的顫動效應且同時保證系統的強健性與穩定性。本論文使用二軸線性伺服馬達運動平台驗證所提方法之可行性，實驗結果顯示本論文所提出之適應性非線性滑動模式控制器以及基於NURBS之頓動力及摩擦力補償機制確實可有效提升循跡精度。

In contour following applications, one of the most crucial factors for achieving high precision machining/manufacturing is the development of an excellent servo control scheme for reducing tracking error and contour error. In general, nonlinearity and disturbance resulting from system itself and ambient environment are two of the major reasons contributing to the deterioration of contour following accuracy. In particular, for permanent magnet linear servomotors commonly used in CNC machine tools, its nonlinearities include friction and cogging force. The fact that these nonlinearities are dependent on the ambient environment of the linear motor often lead to inaccurate system identification and disturbance compensation. In order to effectively suppress the adverse effect due to external disturbance and nonlinearities, this thesis proposes an Adaptive Nonlinear Sliding Mode Control (ADNSMC) scheme. In the proposed control scheme, the Non-Uniform Rational B-Spline (NURBS) is exploited to develop an on-line disturbance estimation/compensation mechanism. Moreover, by designing a nonlinear sliding surface, the proposed control scheme is able to effectively suppress the chattering effect often occurred in the conventional sliding mode control approach. Theoretical analysis of stability and robustness are also provided in this thesis. A 2DOF motion stage actuated by two permanent magnet linear servomotors is used as an experimental platform to assess the performance of the proposed control approach. Experimental results indicate that the proposed ADNSMC indeed is effective in friction and cogging force compensation so as to improve contour following accuracy.

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