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

17 Citations (Scopus)


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
Issue number6
Publication statusPublished - Jan 1 2015


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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