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This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.<\/jats:p>","DOI":"10.1155\/2020\/9096073","type":"journal-article","created":{"date-parts":[[2020,3,16]],"date-time":"2020-03-16T23:31:35Z","timestamp":1584401495000},"page":"1-8","source":"Crossref","is-referenced-by-count":1,"title":["Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0652-9979","authenticated-orcid":true,"given":"Ancai","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, Linyi University\u2014Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, 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