Title :
A survey of underactuated mechanical systems
Author :
Yang Liu ; Hongnian Yu
Author_Institution :
Centre for Appl. Dynamics Res., Univ. of Aberdeen, Aberdeen, UK
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;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2012.0505
