Szczegóły publikacji
Opis bibliograficzny
Comparative study of neural state-space models for nonlinear pendulum identification / Patryk BAŁAZY, Krzysztof LALIK, Adam Szulęcki, Bartłomiej Pajdziński // W: MMAR 2026 [Dokument elektroniczny] : 30th international conference on Methods and Models in Automation and Robotics : 18-21 August 2026, Międzyzdroje, Poland : technical papers : on line proceedings. — Wersja do Windows. — Dane tekstowe. — [Piscataway] : IEEE, cop. 2026. — ( International Conference on Methods and Models in Automation and Robotics ; ISSN 2835-2815 ). — USB ISBN:979-8-3195-1920-7. — Print on Demand(PoD) ISBN:979-8-3195-1922-1. — e-ISBN: 979-8-3195-1921-4. — S. 88-92. — Wymagania systemowe: Adobe Reader. — Bibliogr. s. 92, Abstr.
Autorzy (4)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 169791 |
|---|---|
| Data dodania do BaDAP | 2026-10-06 |
| Tekst źródłowy | URL |
| DOI | 10.1109/MMAR70562.2026.11667968 |
| Rok publikacji | 2026 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Wydawca | Institute of Electrical and Electronics Engineers (IEEE) |
| Konferencja | International Conference on Methods and Models in Automation and Robotics 2026 |
| Czasopismo/seria | International Conference on Methods and Models in Automation and Robotics |
Abstract
This paper presents a simulation-based comparative study of neural state-space models (NSSMs) for the identification of a damped and forced nonlinear pendulum. Three model variants are considered: a baseline data-driven NSSM, a physics-informed NSSM, and a Lyapunov-constrained NSSM. A total of 50 training runs were executed, and the bestachieved experiment under a rollout-oriented selection criterion is reported in detail. All models were trained and evaluated on the same train/validation/test split. For the selected experiment, the baseline NSSM achieved the lowest one-step and long-horizon rollout errors, while the Lyapunov-constrained model provided better long-horizon behavior than the physics-informed variant but remained less accurate than the baseline. All three models remained bounded under the adopted test protocol. The results indicate that, for the considered pendulum benchmark, a plain NSSM is sufficient when the operating region is well covered by data, whereas structured variants mainly improve qualitative properties at the cost of reduced predictive accuracy.
