Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots

Abstract

In this paper, a discrete-time integral sliding mode control algorithm, DISMC in short, is designed for robust control of brain-controlled mobile robot systems. A novel discrete-time integral sliding manifold with elimination of the reaching phase for sliding mode is employed to track the desired velocities while compensating for the disturbances and uncertainties. Semi-physical simulation results show the effectiveness and robustness of the proposed DISMC. It is also shown that the proposed controller can achieve better tracking performance compared to the PID control under different disturbance conditions.