Dynamic modeling and controller design for a flexible four-bar mechanism is studied. The fully coupled nonlinear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD and a robust μ-synthesis controller are shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.
|Number of pages||4|
|Journal||American Society of Mechanical Engineers, Design Engineering Division (Publication) DE|
|Publication status||Published - 1 Dec 1998|
ASJC Scopus subject areas
- Control and Systems Engineering