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

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.