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

Ryo Kikuuwe, Katsuya Kanaoka, Tomohiro Kumon, Motoji Yamamoto

研究成果: Contribution to journalArticle査読

23 被引用数 (Scopus)

抄録

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.

本文言語英語
論文番号7055268
ページ(範囲)2182-2194
ページ数13
ジャーナルIEEE Transactions on Control Systems Technology
23
6
DOI
出版ステータス出版済み - 2015

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 電子工学および電気工学

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