eprintid: 10199524 rev_number: 9 eprint_status: archive userid: 699 dir: disk0/10/19/95/24 datestamp: 2024-11-05 08:45:55 lastmod: 2024-11-05 08:54:31 status_changed: 2024-11-05 08:54:31 type: proceedings_section metadata_visibility: show sword_depositor: 699 creators_name: Wang, Xinming creators_name: Yan, Yunda creators_name: Zhang, Kaiqiang creators_name: Liu, Cunjia title: Prescribed Vibration Control for Long Slender Remote Systems in Nuclear Decommissioning ispublished: inpress divisions: UCL divisions: B04 divisions: F48 keywords: Nuclear decommissioning, flexible manipulator, control barrier function, vibration suppression, disturbance rejection note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. abstract: . 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. date: 2024-12-07 date_type: published publisher: Robot Intelligence Technology and Applications (RiTA) Association official_url: https://2024.icrita.org/ full_text_type: other language: eng primo: open primo_central: open_green verified: verified_manual elements_id: 2332640 lyricists_name: Yan, Yunda lyricists_id: YYAAC15 actors_name: Yan, Yunda actors_id: YYAAC15 actors_role: owner full_text_status: restricted pres_type: paper place_of_pub: Ulsan, South Korea event_title: the 12th International Conference on Robot Intelligence Technology and Applications (RiTA 2024) event_location: Ulsan, Korea event_dates: 4 Dec 2024 - 7 Dec 2024 citation: Wang, Xinming; Yan, Yunda; Zhang, Kaiqiang; Liu, Cunjia; (2024) Prescribed Vibration Control for Long Slender Remote Systems in Nuclear Decommissioning. In: (Proceedings) the 12th International Conference on Robot Intelligence Technology and Applications (RiTA 2024). Robot Intelligence Technology and Applications (RiTA) Association: Ulsan, South Korea. (In press). document_url: https://discovery.ucl.ac.uk/id/eprint/10199524/1/Prescribed_Vibration_Control_for_Long_Slender_Remote_Systems_in_Nuclear_Decommissioning.pdf