Energy control of slider-crank mechanism

This paper presents an energy-based control for the rotation velocity of slider-crank mechanism. Firstly, the dynamic equation of the slider-crank mechanism is modeled by Projection method. It will be shown that the angular velocity of the wheel can be controlled to the target velocity by energy control strategy. The wheel motion control of the slider-crank mechanism is desirable to depend on the angle. So, the angle-timing is used for the design of proposed control. The effectiveness of the proposed method for the rotation velocity design is validated through simulation and experiment.