Open AccessA survey of underactuated mechanical systems
Author(s) -
Liu Yang,
Yu Hongnian
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0505
Subject(s) - bottleneck , underactuation , actuator , control engineering , control (management) , degrees of freedom (physics and chemistry) , control theory (sociology) , computer science , state (computer science) , mechanical system , engineering , artificial intelligence , embedded system , physics , algorithm , quantum mechanics
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.