In this paper, the problem of active damping of the elastodynamic vibrations of a flexible slider-crank mechanism is addressed. The slider-crank mechanism is such that the connecting rod is flexible and the crank link is rigid. The slider-crank mechanism system is underactuated since the connecting rod is not directly controlled. A dynamic model for the slider-crank mechanism is derived using the Hamiltonian principle. Then, a control scheme based on an energy approach is proposed. The control scheme uses the passivity of the system to eliminate the vibrations of the flexible connecting rod. Simulation results are given to illustrate the theoretical developments.
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