DocumentCode
48076
Title
A survey of underactuated mechanical systems
Author
Yang Liu ; Hongnian Yu
Author_Institution
Centre for Appl. Dynamics Res., Univ. of Aberdeen, Aberdeen, UK
Volume
7
Issue
7
fYear
2013
fDate
May 2 2013
Firstpage
921
Lastpage
935
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 because of 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.
Keywords
actuators; mechanical engineering; mechanical variables control; pattern classification; UMS; UMS control; classification methods; control methods; degrees of freedom; diverse engineering applications; future research directions; independent control actuators; modelling methods; underactuated mechanical systems;
fLanguage
English
Journal_Title
Control Theory & Applications, IET
Publisher
iet
ISSN
1751-8644
Type
jour
DOI
10.1049/iet-cta.2012.0505
Filename
6562926
Link To Document