欠驱动系统（underactuated system）是指由控制输入向量构成的空间维数小于位形空间维数的系统，即指控制输入数小于系统自由度数的系统[17]。
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欠驱动机械系统 underactuated mechanical systems
For these reasons, underactuated systems have become a research focus in the field of control theory and technology. An overhead crane is a typical nonlinear underactuated system with strong states coupling.
桥式吊车是一种典型的非线性、强耦合、欠驱动系统,它具有负载能力强、操作灵活、节能显著等优点,已经被广泛应用到工业生产、港口运输等多个领域。
参考来源 - 欠驱动非线性桥式吊车自动控制系统研究·2,447,543篇论文数据，部分数据来源于NoteExpress
基于同样的理由，欠驱动系统的运动规划比一般机器人要困难得多。
According to same reason, the motion plan for an under-actuated system is much difficult.
VTOL空间飞行器是具有三个自由度，两个控制输入的欠驱动系统。
VTOL aircraft is an under-actuated system with three degrees of freedom and two control inputs.
旋转摆属于典型的欠驱动系统，通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置。
The rotating pendulum is a typical underactuated system with a rotating shaft of the motor attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum.
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