{
  "abstract": "We consider safety-constrained position tracking for a flexible transmission system consisting of a torsional shaft driven by a motor and connected to a gravitationally loaded inertia. The coupled PDE-ODE dynamics admit a semilinear formulation in which the linear input-output system is impedance passive and the gravitational torque enters as a bounded, globally Lipschitz perturbation. We establish an energy dissipation inequality for the nonlinear model and show that a position-funnel controller with supervised damping admits a unique global closed-loop trajectory. In particular, the motor-angle tracking error remains strictly inside a prescribed time-varying funnel, which can be chosen to enforce safety bounds on the motor angle.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2610.31061",
  "author_total": 2,
  "authors": [
    {
      "name": "Anthony Hastir"
    },
    {
      "name": "Timo Reis"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/3fte77ezk4wss.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2610.31061",
  "fulltext_url": null,
  "id": "3fte77ezk4wss",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2610.31061",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.FA"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Stability and Controllability of Differential Equations"
    ]
  ],
  "openalex": "W7223295568",
  "pdf_url": "https://arxiv.org/pdf/2610.31061",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-22",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/3fte77ezk4wss.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:34:38Z",
      "native_id": "2610.31061",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2610.31061"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.FA",
      "subfield": "analysis-pdes"
    },
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Safety-constrained position tracking of a flexible transmission system",
  "title_text": "Safety-constrained position tracking of a flexible transmission system",
  "type": "preprint",
  "updated_at": "2026-10-30T12:34:38Z",
  "url": "https://research.draconitic.com/paper/3fte77ezk4wss",
  "venue": "arXiv",
  "versions": []
}