Skip to main content

Research Repository

Advanced Search

A survey of underactuated mechanical systems

Liu, Yang; Yu, Hongnian


Yang Liu


An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications. This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.

Journal Article Type Article
Acceptance Date Feb 23, 2013
Online Publication Date May 1, 2013
Publication Date 2013-05
Deposit Date Jun 15, 2022
Journal IET Control Theory & Applications
Print ISSN 1751-8644
Electronic ISSN 1751-8652
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 7
Issue 7
Pages 921-935
Public URL