A survey of underactuated mechanical systems

Liu, Yang; Yu, Hongnian

Abstract

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.

Citation

Liu, Y., & Yu, H. (2013). A survey of underactuated mechanical systems. IET Control Theory and Applications, 7(7), 921-935. https://doi.org/10.1049/iet-cta.2012.0505

• 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
• DOI: https://doi.org/10.1049/iet-cta.2012.0505
• Public URL: http://researchrepository.napier.ac.uk/Output/2879211