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Abstract
In the last few years, industry has seen an ever increasing trend towards a new class of mechanical systems with minimum power consumed, less cost in design, lighter weight and in mini or even micro size. This brings to the focus of research the term of Underactuated Mechanical Systems (UMS). The underactuated mechanical system is defined as the systems with fewer control inputs than the degree of freedom of the system. Most of the real mechanical systems could be considered as underactuated mechanical systems. The applications of such systems are widely used in; robotic, satellites, unmanned air vehicles, underwater vessels, hovercrafts, and vertical take off and landing aircrafts. The main objective of this thesis is to design the dynamic modeling and control of underactuated mechanical systems. A wide survey about the underactuated mechanical systems includes the difference between fully and under actuated systems, method of deriving the dynamic model, most control strategies used by the researches and the most famous underactuated mechanical systems. A dynamic model of both: robotic example; the Acrobot system and Air vehicle; the vertical take/off and landing (VTOL) aircraft is proof. Then, feedback linearization and fuzzy control methods are applied to those systems