SUMMARYA new stable adaptive controller based on a neural network for underactuated systems is proposed in this paper. The control scheme has been developed for two underactuated systems as examples. The Furuta pendulum and the Inertia Wheel Pendulum (IWP) have been examined in this paper. The presented approach aims to address the control problem of the given system in swing up, stabilization, and disturbance rejection. To avoid oscillations, two adaptive neural networks (ANNs) are implemented. The first one is used to approximate the equivalent control online and the second one to minimize the oscillations.

中文翻译：

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欠驱动系统的双自适应神经网络控制器

摘要本文提出了一种新的基于神经网络的欠驱动系统稳定自适应控制器。该控制方案已针对两个欠驱动系统作为示例进行了开发。本文对古田摆和惯性轮摆 (IWP) 进行了研究。所提出的方法旨在解决给定系统在摆动、稳定和抗扰方面的控制问题。为了避免振荡，实现了两个自适应神经网络 (ANN)。第一个用于近似在线等效控制，第二个用于最小化振荡。