What you can do, if you don't mind your char being a bit on the evil side, is slap them on the rack and leave them there.
You'll have to feed them by hand, and every now and then may give them a trendstim so they don't die. Otherwise, keep 'em hanging and whip or otherwise abuse them regularly. They'll hate you with a passion, but their willpower will come down steadily. Use the Stimulate/Dirty Talk option to keep their anger down and you'll be able to let them out of there with zero anger or will power but maximum fear. After that, you can work on raising affection. Trips to the diner, pool parties and gaming sessions once they'll agree to follow you. It can also help to take them on a couple of combat missions and have them gain some respect.
They'll not be much bother after that as a rule, but check on them every now and then to make sure they don't start plotting escape as their stats come back up, If they do, you can always slap them back on the rack or into jail.
I've ended up doing this to Mai and Kelly on my last couple of new games. After that, I've generally managed to get my stats and house up enough that I don't need such extreme measures for subsequent slaves.