Ball and beam system control method based on fuzzy sliding mode and periodic event-triggered

By introducing fuzzy membership functions and periodic event triggering mechanisms into the cue system, the problems of sliding surface conservatism and Zeno's phenomenon are solved, and the robust stability and resource conservation of the system are achieved.

CN122411064APending Publication Date: 2026-07-17NANJING UNIV OF INFORMATION SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING UNIV OF INFORMATION SCI & TECH
Filing Date
2026-06-10
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing control methods for cue systems do not incorporate fuzzy membership functions in the sliding surface design, resulting in high conservatism. Furthermore, the event triggering mechanism does not employ periodicity, which can easily lead to Zeno's phenomenon and resource waste.

Method used

By establishing a dynamic sliding surface that depends on fuzzy membership functions and introducing a periodic event triggering mechanism, the dynamic conservatism of the system is reduced, Zeno's phenomenon is avoided, the maximum sampling period is established, and resources are saved.

Benefits of technology

This achieves global robust stability of the cue system, reduces resource consumption and communication frequency, avoids system chattering, and improves engineering application performance.

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Abstract

The application discloses a ball and link system control method based on fuzzy sliding mode and periodic event triggering, first constructs a state space equation of the system and carries out regular transformation to obtain a standard system model; then, a fuzzy sliding mode switching function is established in combination with a fuzzy membership function, and a periodic event triggering mechanism is designed; on the basis, a periodic event triggering fuzzy sliding mode controller is constructed, an actual sliding mode band is constructed by analyzing a periodic sampling error, state trajectory is ensured to enter the band in a limited time and remain in the band, and the reachability of the sliding mode surface is ensured; then, a controller gain matrix is solved based on stability analysis of the sliding mode, is brought into the controller to complete closed-loop control on the ball and link system, and a system sampling period is established. The application uses the fuzzy membership function to design the sliding mode surface, has lower conservativeness, and uses the periodic sampling to design the event triggering mechanism, theoretically eliminates the Zeno phenomenon, and provides an efficient control scheme for a system with limited network and communication resources.
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