Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter

Ryo Kikuuwe, Katsuya Kanaoka, Tomohiro Kumon, Motoji Yamamoto

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number7055268
Pages (from-to)2182-2194
Number of pages13
JournalIEEE Transactions on Control Systems Technology
Volume23
Issue number6
DOIs
Publication statusPublished - Jan 1 2015

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Industrial manipulators
Stabilization
Lead

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter. / Kikuuwe, Ryo; Kanaoka, Katsuya; Kumon, Tomohiro; Yamamoto, Motoji.

In: IEEE Transactions on Control Systems Technology, Vol. 23, No. 6, 7055268, 01.01.2015, p. 2182-2194.

Research output: Contribution to journalArticle

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