Abstract
An underactuated mechanical system (UMS) is the system that 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 due to its diverse engineering applications.
This survey reviews UMS from its history to the state-of-the-art research on modelling,
classification, control methods, and to some extent, provides some unique insights for
bottleneck issues of control and future research directions.
control actuators than degrees of freedom to be controlled. Control of UMS is considered
as one of the most active fields of research due to its diverse engineering applications.
This survey reviews UMS from its history to the state-of-the-art research on modelling,
classification, control methods, and to some extent, provides some unique insights for
bottleneck issues of control and future research directions.
Original language | English |
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Pages (from-to) | 1-53 |
Number of pages | 53 |
Journal | IET Control Theory & Applications |
Volume | 7 |
Issue number | 7 |
DOIs | |
Publication status | Published - 2 May 2013 |
Keywords
- underactuated mechanical system
- underactuation
- dynamics
- control
- robotics