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Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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 ti

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