?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Prescribed+Vibration+Control+for+Long+Slender+Remote+Systems+in+Nuclear+Decommissioning&rft.creator=Wang%2C+Xinming&rft.creator=Yan%2C+Yunda&rft.creator=Zhang%2C+Kaiqiang&rft.creator=Liu%2C+Cunjia&rft.description=.+In+nuclear+decommissioning+and+other+hazardous+environments%2C+long+slender+remote+manipulators+are+crucial+for+performing+tasks%0D%0Awhere+human+intervention+is+not+possible.+However%2C+their+inherent+flexibility+poses+critical+challenges+such+as+deformation+and+vibration%2C+which%0D%0Acan+degrade+control+precision+and+induce+risks+in+rapid+operations.+To%0D%0Aaddress+such+issues%2C+this+paper+presents+a+new+vibration+suppression+control+strategy+for+a+specialised+type+of+flexible+manipulators.+A+two-link%0D%0Amodel%2C+featuring+a+fixed%2C+flexible+first+link+and+a+rigid+second+link%2C+is%0D%0Aconsidered+to+capture+the+core+effects+of+one+typical+kind+of+long-reach%0D%0Aremote+systems%2C+which+consist+of+a+relatively+rigid+manipulator+supported%0D%0Aby+a+long+slender+structure.+The+system+dynamics+are+modelled+using+the%0D%0Aassumed+mode+method%2C+and+a+prescribed+vibration+control+(PVC)+framework+is+developed%2C+integrating+two+prescribed+vibration+control+barrier%0D%0Afunctions+(PV-CBFs)+and+a+finite-time+disturbance+observer+to+manage%0D%0Aunmodelled+uncertainties+and+external+disturbances.+This+framework+ensures+predefined+vibration+performance+and+accurate+end-point+positioning+by+formulating+a+quadratic+programming+(QP)+problem+that+adjusts%0D%0Aa+baseline+tracking+controller.+The+proposed+method+is+validated+through%0D%0Arigorous+theoretical+analysis+and+simulation+tests%2C+demonstrating+better%0D%0Atracking+performance+compared+to+traditional+methods.&rft.subject=Nuclear+decommissioning%2C+flexible+manipulator%2C+control+barrier+function%2C+vibration+suppression%2C+disturbance+rejection&rft.publisher=Robot+Intelligence+Technology+and+Applications+(RiTA)+Association&rft.date=2024-12-07&rft.type=Proceedings+paper&rft.language=eng&rft.source=+++++In%3A+++(Proceedings)+the+12th+International+Conference+on+Robot+Intelligence+Technology+and+Applications+(RiTA+2024).+++Robot+Intelligence+Technology+and+Applications+(RiTA)+Association%3A+Ulsan%2C+South+Korea.+(2024)++++(In+press).++&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10199524%2F&rft.rights=open