TY - JOUR
T1 - Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter
AU - Kikuuwe, Ryo
AU - Kanaoka, Katsuya
AU - Kumon, Tomohiro
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2015 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2015
Y1 - 2015
N2 - The force-projecting master-slave (MS) control scheme is the reversed implementation of the conventional force-reflecting scheme. This paper presents a method to stabilize force projecting MS systems using a linear phase-lead compensator and a new nonlinear filter. The nonlinear filter is a modified version of Jin et al.'s parabolic sliding mode filter, which produces a relatively small phase lag. Some numerical properties of the new filter are presented. The filter is then applied to an experimental MS system composed of two industrial manipulators. A force scaling factor of 25 was achieved with maintaining the stability.
AB - The force-projecting master-slave (MS) control scheme is the reversed implementation of the conventional force-reflecting scheme. This paper presents a method to stabilize force projecting MS systems using a linear phase-lead compensator and a new nonlinear filter. The nonlinear filter is a modified version of Jin et al.'s parabolic sliding mode filter, which produces a relatively small phase lag. Some numerical properties of the new filter are presented. The filter is then applied to an experimental MS system composed of two industrial manipulators. A force scaling factor of 25 was achieved with maintaining the stability.
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U2 - 10.1109/TCST.2015.2404893
DO - 10.1109/TCST.2015.2404893
M3 - Article
AN - SCOPUS:84965133830
SN - 1063-6536
VL - 23
SP - 2182
EP - 2194
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
M1 - 7055268
ER -