Modeling and robust control of vibrations in a flexible four-bar mechanism

Mansour Karkoub, Ahmet S. Yigit

Research output: Contribution to journalArticle


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.

Original languageEnglish
Pages (from-to)75-78
Number of pages4
JournalAmerican Society of Mechanical Engineers, Design Engineering Division (Publication) DE
Publication statusPublished - 1 Dec 1998


ASJC Scopus subject areas

  • Control and Systems Engineering

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