[1]SUN Ning,FANG Yongchun.A review for the control of a class of underactuated systems[J].CAAI Transactions on Intelligent Systems,2011,6(3):200-207.
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A review for the control of a class of underactuated systems

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 3 Page number: 200-207 Column: 综述 Public date: 2011-06-25
Title:
A review for the control of a class of underactuated systems
Author(s):
SUN Ning;  FANG Yongchun
Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, China
Keywords:
underactuated systems;  robotics;  intelligent control
CLC:
TP273
DOI:
-
Abstract:
Recently, research on underactuated systems has become a hot topic in the robotics and automation fields. The research status for the control of a class of underactuated systems (termed as underactuated link systems) was reviewed in this paper. Specifically, the system dynamics was presented first, and two basic control modes were introduced. Subsequently, the main control strategies, which include optimal control methods, motion planning methods, partial feedback linearization methods, energybased methods, state dimension reducing methods, hierarchical control design methods, and intelligent schemes, were analyzed. Finally, some major issues associated with the control system design for underactuated link systems， such as robustness, practicability, rapidness and so on, were sketched, and corresponding prospects including robust strategy, saturation control and finite time control etc. were proposed for future work.
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