A Survey of Underactuated Mechanical Systems

Yang Liu, Hongnian Yu

Research output: Contribution to journalArticlepeer-review

217 Citations (Scopus)
18 Downloads (Pure)


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.
Original languageEnglish
Pages (from-to)1-53
Number of pages53
JournalIET Control Theory & Applications
Issue number7
Publication statusPublished - 2 May 2013


  • underactuated mechanical system
  • underactuation
  • dynamics
  • control
  • robotics


Dive into the research topics of 'A Survey of Underactuated Mechanical Systems'. Together they form a unique fingerprint.

Cite this