A survey of underactuated mechanical systems

被引：230
作者：
Liu, Yang [1 ]
Yu, Hongnian [2 ]
机构：
[1] Univ Aberdeen, Kings Coll, Sch Engn, Ctr Appl Dynam Res, Aberdeen, Scotland
[2] Bournemouth Univ, Sch Design Engn & Comp, Bournemouth, Dorset, England
来源：
IET CONTROL THEORY AND APPLICATIONS | 2013年 / 7卷 / 07期
关键词：
PASSIVITY-BASED CONTROL; SLIDING MODE CONTROL; WHEELED INVERTED-PENDULUM; NONMINIMUM-PHASE SYSTEMS; DIRECT LYAPUNOV APPROACH; GLOBAL TRACKING CONTROL; ENERGY-BASED CONTROL; TRAJECTORY-TRACKING; NONLINEAR CONTROL; ROBUST-CONTROL;
D O I：
10.1049/iet-cta.2012.0505
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：921 / 935
页数：15
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