A novel synchronization motion control method is proposed in this paper for the system in which two manipulators are constrained by a flexible beam. Different from the general synchronization control method, the coupling dynamics among various actuators is considered as the shear force, which results from the synchronization errors. Then a simple boundary control is introduced to realize the synchronization motion of actuators by suppressing the shear force. In order to avoid the drawbacks of assumed modes model, the dynamic model of flexible beam is described by a distributed parameter model in this paper. A Riesz basis method is used to prove that the proposed control law can guarantee the synchronization system to be exponential stability. Simulation results demonstrate that the proposed method can effectively improve the performance of synchronization motion compared with other methods. (C) 2014 Elsevier Ltd. All rights reserved.