%0 Generic
%A Wang, Xinming
%A Yan, Yunda
%A Zhang, Kaiqiang
%A Liu, Cunjia
%C Ulsan, South Korea
%D 2024
%F discovery:10199524
%I Robot Intelligence Technology and Applications (RiTA) Association
%K Nuclear decommissioning, flexible manipulator, control barrier function, vibration suppression, disturbance rejection
%T Prescribed Vibration Control for Long Slender Remote Systems in Nuclear Decommissioning
%U https://discovery.ucl.ac.uk/id/eprint/10199524/
%X . In nuclear decommissioning and other hazardous environments, long slender remote manipulators are crucial for performing tasks  where human intervention is not possible. However, their inherent flexibility poses critical challenges such as deformation and vibration, which  can degrade control precision and induce risks in rapid operations. To  address such issues, this paper presents a new vibration suppression control strategy for a specialised type of flexible manipulators. A two-link  model, featuring a fixed, flexible first link and a rigid second link, is  considered to capture the core effects of one typical kind of long-reach  remote systems, which consist of a relatively rigid manipulator supported  by a long slender structure. The system dynamics are modelled using the  assumed mode method, and a prescribed vibration control (PVC) framework is developed, integrating two prescribed vibration control barrier  functions (PV-CBFs) and a finite-time disturbance observer to manage  unmodelled uncertainties and external disturbances. This framework ensures predefined vibration performance and accurate end-point positioning by formulating a quadratic programming (QP) problem that adjusts  a baseline tracking controller. The proposed method is validated through  rigorous theoretical analysis and simulation tests, demonstrating better  tracking performance compared to traditional methods.
%Z This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.