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Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm — arXiv:2609.22963

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.22963
License (as archived): CC0-1.0
Archived: 2026-10-09T22:23:41.978Z
SHA-256 of the archived text: cb320b46c80304b1a6815a600558045a052e5246eddf0c9b6ad8ff95187cebd0
Stable URL of this page: https://metraipolis.com/documento/dc_14aa4cd5ff11

How to cite

Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm — arXiv:2609.22963 — arXiv (en), https://arxiv.org/abs/2609.22963 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_14aa4cd5ff11 (Metraipolis archive dc_14aa4cd5ff11, sha256 cb320b46c80304b1a6815a600558045a052e5246eddf0c9b6ad8ff95187cebd0)

BibTeX

@misc{dc14aa4cd5ff11,
  title = {Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm — arXiv:2609.22963},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.22963},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_14aa4cd5ff11; sha256 cb320b46c80304b1a6815a600558045a052e5246eddf0c9b6ad8ff95187cebd0},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.22963. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This study develops a prescribed-time performance-shaping control method for curvature tracking of a single-segment flexible arm actuated by three antagonistic tendon pairs. A Cartesian curvature representation is introduced to avoid the undefined bending direction at the straight configuration and to establish an explicit six-tendon kinematic mapping. A cubic performance boundary contracts smoothly from an initially admissible error bound to a nonzero terminal accuracy bound within a prescribed time. Based on this boundary, a dual transformation combining static symmetric error scaling and time-varying behavior shaping maps the tracking error into a fixed unit box. The resulting controller guarantees boundary invariance, prescribed-time entry into the terminal accuracy region, and subsequent asymptotic convergence. Numerical evaluations with Python and OpenCR--MuJoCo, together with a supervised reduced-order experiment on a two-section, four-channel platform, provide complementary validation. Across six experimental trials, no violation of the prescribed boundary is observed, and the proposed controller reduces the mean terminal curvature RMSE by 32.5% relative to a matched baseline, with comparable terminal-band entry times. These results support the feasibility of the proposed approach in the reduced-order experimental setting.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-22 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.22963 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-09T21:59:59.511Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-22?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).