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).
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Prescribed_Vibration_Control_for_Long_Slender_Remote_Systems_in_Nuclear_Decommissioning.pdf - Accepted Version Access restricted to UCL open access staff until 7 May 2025. Download (1MB) |
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.
| Type: | Proceedings paper |
|---|---|
| Title: | Prescribed Vibration Control for Long Slender Remote Systems in Nuclear Decommissioning |
| Event: | the 12th International Conference on Robot Intelligence Technology and Applications (RiTA 2024) |
| Location: | Ulsan, Korea |
| Dates: | 4 Dec 2024 - 7 Dec 2024 |
| Publisher version: | https://2024.icrita.org/ |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Nuclear decommissioning, flexible manipulator, control barrier function, vibration suppression, disturbance rejection |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10199524 |
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