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PreprintarXiv licencearXiv

Safety-constrained position tracking of a flexible transmission system

  • Anthony Hastir
  • Timo Reis
Open at sourcePDFDOICite

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.

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Cite

BibTeXRIS
BibTeX
@misc{hastir2026safetyconstrained,
  title = {{Safety-constrained position tracking of a flexible transmission system}},
  author = {Anthony Hastir and Timo Reis},
  howpublished = {arXiv},
  year = {2026},
  month = oct,
  doi = {10.48550/arxiv.2610.31061},
  eprint = {2610.31061},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2610.31061},
}
RIS
TY  - UNPB
TI  - Safety-constrained position tracking of a flexible transmission system
AU  - Anthony Hastir
AU  - Timo Reis
PY  - 2026
DA  - 2026/10/22
PB  - arXiv
DO  - 10.48550/arxiv.2610.31061
UR  - https://arxiv.org/abs/2610.31061
AB  - 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.
ER  -