Current research into optimal methods of controller of under-actuated system pendubot

The control of nonlinear underactuated manipulator system is a new focus topic in the intelligent control fields. Underactuated system is second order nonholonomic system with fewer actuators than degrees of freedom. This paper summarizes briefly the basic researching results on optimized design and parameters of swing-up controller and balancing controller of underactuated system pendubot based on fuzzy control, genetic algorithm and particle swam algorithm in the intelligent control theory for recent years. And the direction of further research of underactuated manipulator system is also presented.