A Review on the Control of Second Order Underactuated Mechanical Systems

Abstract

In addition to reviewing the current state-of-the-art regarding the 
mathematical modeling of these systems, their classification, and all the 
control strategies (linear, nonlinear, and intelligent) that have been 
developed thus far (i.e., from the year 2000 to date) to control these 
systems, this paper describes some significant classes of two degrees of 
freedom of underactuated mechanical systems. The improvement, 
efficacy, and robustness of the suggested controllers for underactuated 
mechanical systems are discussed, along with future research and 
obstacles.