Discrete integral sliding mode control device and method for brain-controlled mobile robot

Abstract

The invention provides a discrete integral sliding mode control device and method for a brain-controlled mobile robot. The control device comprises a brain-computer interface, a speed interface, a zero-order retainer, a discrete integral sliding mode controller and a speed sensor communicating with the discrete integral sliding mode controller, wherein the brain-computer interface, the speed interface, the zero-order retainer and the discrete integral sliding mode controller are sequentially connected. The control method comprises the following steps: initializing a brain-controlled mobile robot, and detecting the state of a speed sensor; receiving a control decision of a brain control operator through the brain-computer interface; converting the control decision of the brain control operator through the speed interface and the zero-order retainer, and outputting an expected control speed signal; and according to the expected control speed signal and the real-time speed of the speed sensor, performing control input solving through the discrete integral sliding mode controller to obtain a new control signal, and acting on the brain-controlled mobile robot. After the brain-computer interface outputs the expected robot speed signal, the controller is designed to enable the control signal to complete tracking of the expected speed, and the robustness of the system is guaranteed.

Description

technical field [0001] The invention relates to comprehensive applications in the fields of human-computer interaction, robot technology, information technology and automatic control, and in particular to a discrete integral sliding mode control device and method for a brain-controlled mobile robot. Background technique [0002] Wheeled mobile robots are an important application in the field of human-computer interaction. To improve the mobility and quality of life of patients suffering from motor neuron diseases (eg, amyotrophic lateral sclerosis, multiple sclerosis), researchers have developed a brain-controlled mobile robotic system based on brain-computer interface (BMI) technology. The brain-computer interface provides a direct real-time information exchange and control channel for users and external physical devices, and can directly decode the user's brain activity from neurophysiological signals into control instructions for external devices. Brain-computer interfac...

AI Technical Summary

Problems solved by technology

When the user uses the brain-controlled mobile robot system, due to the limitations of the brain-computer interface technology, the expected speed of a given robot still varies greatly between the response time of the brain-computer interface, and because the brain-controlled mobile robot manned system has relatively large With a large activity space and range of motion, its movement is easily disturbed by the outside world. Therefore, the brain-controlled mobile robot system has high requirements for robustness. However, the current speed control of the brain-controlled mobile robot still continues the PID control of the traditional robot. The underlying speed control implementation of brain-controlled robots has not been paid attention to, and the robustness and overall performance of the system are therefore limited

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