# Adaptive Neural Network Control of Underactuated System

### Andrzej Burghardt, Zenon Hendzel

#### Abstract

The article presents a synthesis of the control system of an underactuated object of ball-beam type. Based on a mathematical description of the object, we proposed an adaptational control algorithm, ensuring stabilization of the ball position on the beam. The synthesis of the control system was conducted on the basis of Lyapunovâ€™s stability theory, using artificial neural networks in the adaptation process. The proposed solution was simulated with Matlab/Simulink software and verified on the real object.

#### References

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#### Paper Citation

#### in Harvard Style

Burghardt A. and Hendzel Z. (2012). **Adaptive Neural Network Control of Underactuated System** . In *Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012)* ISBN 978-989-8565-33-4, pages 505-509. DOI: 10.5220/0004113505050509

#### in Bibtex Style

@conference{ncta12,

author={Andrzej Burghardt and Zenon Hendzel},

title={Adaptive Neural Network Control of Underactuated System},

booktitle={Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012)},

year={2012},

pages={505-509},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0004113505050509},

isbn={978-989-8565-33-4},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012)

TI - Adaptive Neural Network Control of Underactuated System

SN - 978-989-8565-33-4

AU - Burghardt A.

AU - Hendzel Z.

PY - 2012

SP - 505

EP - 509

DO - 10.5220/0004113505050509