Underactuated systems represent a class of mechanical systems with fewer independent control actuators than degrees of freedom. The control problem of underactuated systems is one of the most challenging in the theory of nonlinear control because such systems exhibit strong coupling and highly nonlinear characteristics. Fuzzy systems have been successfully applied to control underactuated systems in both theoretical analysis and practical application. This survey describes the model and application of underactuated systems and classifies fuzzy systems in a straightforward manner. Moreover, this study analyzes problems facing conventional control methods and presents the development of fuzzy systems to solve these problems.
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