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arXiv · 2610.31061

Safety-constrained position tracking of a flexible transmission system

Anthony Hastir·Timo Reis
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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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Anthony Hastir, Timo Reis. 2026-10-22. Safety-constrained position tracking of a flexible transmission system. https://arxiv.org/abs/2610.31061

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