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<https://discovery.ucl.ac.uk/id/eprint/10199524> <http://purl.org/dc/terms/title> "Prescribed Vibration Control for Long Slender Remote Systems in Nuclear Decommissioning"^^<http://www.w3.org/2001/XMLSchema#string> .
<https://discovery.ucl.ac.uk/id/eprint/10199524> <http://purl.org/ontology/bibo/abstract> ". In nuclear decommissioning and other hazardous environments, long slender remote manipulators are crucial for performing tasks\r\nwhere human intervention is not possible. However, their inherent flexibility poses critical challenges such as deformation and vibration, which\r\ncan degrade control precision and induce risks in rapid operations. To\r\naddress such issues, this paper presents a new vibration suppression control strategy for a specialised type of flexible manipulators. A two-link\r\nmodel, featuring a fixed, flexible first link and a rigid second link, is\r\nconsidered to capture the core effects of one typical kind of long-reach\r\nremote systems, which consist of a relatively rigid manipulator supported\r\nby a long slender structure. The system dynamics are modelled using the\r\nassumed mode method, and a prescribed vibration control (PVC) framework is developed, integrating two prescribed vibration control barrier\r\nfunctions (PV-CBFs) and a finite-time disturbance observer to manage\r\nunmodelled uncertainties and external disturbances. This framework ensures predefined vibration performance and accurate end-point positioning by formulating a quadratic programming (QP) problem that adjusts\r\na baseline tracking controller. The proposed method is validated through\r\nrigorous theoretical analysis and simulation tests, demonstrating better\r\ntracking performance compared to traditional methods."^^<http://www.w3.org/2001/XMLSchema#string> .
<https://discovery.ucl.ac.uk/id/eprint/10199524> <http://purl.org/dc/terms/date> "2024-12-07" .
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