Mechanics of particles and systems Control of mechanical systems Concept
Underactuated system
Summary
An underactuated system is a controlled mechanical system with fewer independent control inputs than degrees of freedom. The inputs cannot set all accelerations at will, so some motions can only be influenced through the dynamics. Examples are the inverted pendulum on a cart, the Furuta pendulum, walking robots, aircraft and underwater vehicles. Such systems are a main subject of nonlinear control, because the methods for fully actuated robots do not apply to them directly.
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| Tag | RJSM2ZNV61 |
|---|---|
| URI | m2://RJSM2ZNV61 |
| Kind | concept |
| Writing | W0 stub |
| MSC | 70Q05, 93C10, 70E60 |
| Specializes | Control system |
| Same as | |
| Changed | 3 November 2026 |
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