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

Hongqi Li; Luzheng Bi

doi:10.1109/RCAR49640.2020.9303295

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

Hongqi Li, Luzheng Bi

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

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.

Original language	English
Title of host publication	2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	239-244
Number of pages	6
ISBN (Electronic)	9781728172927
DOIs	https://doi.org/10.1109/RCAR49640.2020.9303295
Publication status	Published - 28 Sept 2020
Event	2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020 - Virtual, Asahikawa, Hokkaido, Japan Duration: 28 Sept 2020 → 29 Sept 2020

Publication series

Name	2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020

Conference

Conference	2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Country/Territory	Japan
City	Virtual, Asahikawa, Hokkaido
Period	28/09/20 → 29/09/20

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10.1109/RCAR49640.2020.9303295

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Li, H., & Bi, L. (2020). Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots. In 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020 (pp. 239-244). Article 9303295 (2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR49640.2020.9303295

@inproceedings{43b1975516b0466db9cb51c36a7b8855,

title = "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.",

author = "Hongqi Li and Luzheng Bi",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020 ; Conference date: 28-09-2020 Through 29-09-2020",

year = "2020",

month = sep,

day = "28",

doi = "10.1109/RCAR49640.2020.9303295",

language = "English",

series = "2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Li, H & Bi, L 2020, Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots. in 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020., 9303295, 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020, Institute of Electrical and Electronics Engineers Inc., pp. 239-244, 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020, Virtual, Asahikawa, Hokkaido, Japan, 28/09/20. https://doi.org/10.1109/RCAR49640.2020.9303295

Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots. / Li, Hongqi; Bi, Luzheng.
2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 239-244 9303295 (2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Hongqi

AU - Bi, Luzheng

PY - 2020/9/28

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020

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BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020

Y2 - 28 September 2020 through 29 September 2020

ER -

Li H, Bi L. Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots. In 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 239-244. 9303295. (2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020). doi: 10.1109/RCAR49640.2020.9303295

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

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