Year: 2026
Type: preprint
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.
Source: arXiv (Cornell University)
Authors: Hastir, Anthony, Reis, Timo
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Deutsche Forschungsgemeinschaft
OpenAlex ID: W7223295568