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.