本論文主旨在以二階順滑模態控制設計並實現氣動式單足彈跳機器人的垂直彈跳控制。首先分析線性質塊-彈簧系統之能量特性再將其運用在氣壓缸垂直彈跳系統之能量分析上以決定彈跳週期及高度，並建立整體系統的數學模型，接著設計二階順滑模態控制之超螺旋控制以控制上氣室流量，再設計二階順滑模態控制之次最佳化控制以控制下氣室流量，並利用MATLAB/Siumlink模擬可行性。在實作上，以比例閥為致動器，先以最小平方法校正比例閥的係數，再以磁性讀頭及電阻尺量測氣壓缸缸體與氣壓缸活塞桿行程以提供回授控制之用，利用數位訊號處理器TMS320F2812為控制核心，以C語言實現控制演算法。最後，由模擬與實驗結果驗證了所設計之順滑模態控制器可有效地達到氣動式單足機器人的彈跳控制。

SUMMARY
The aim of this thesis is to design and implement the vertical pneumatic single-legged hopping robot using second order sliding mode control. First, analysis the energy of a linear mass–spring system is given and this energy analysis is used to determine the hopping cycle and height for a pneumatic vertical hopping robot. The mathematical model of the system is derived Super-twisting control of the second order sliding mode control is designed to control the mass flow rate for the upper chamber and sub-optimal control of the second order sliding mode control is designed to control the mass flow rate of the lower chamber. The simulation studies are conducted in MATLAB/Simulink. In experiments, a proportional valve is use for control actuation. The coefficients of the proportional valve is calibrated by the least-squares method. For feedback control, the strokes of pneumatic cylinder rod and the hopping height of the cylinder are measured by a potentiometer and a magnetic encoder, respectively. The control schemes are implemented on a digital signals processor (TMS320F2812) from Texas Instruments using C language. From simulation and experimental results, it is show that the designed sliding mode controllers can achieve effective hopping control of the pneumatic single-legged robot.

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