decode already handles bad UTF-8.
$ perl -MEncode -Mcharnames=:full -wE'
$bad = "\xE9abc";
say sprintf "U+%04X %s", ord, charnames::viacode(ord)
for split //, decode("UTF-8", $bad);
'
U+FFFD REPLACEMENT CHARACTER
U+0061 LATIN SMALL LETTER A
U+0062 LATIN SMALL LETTER B
U+0063 LATIN SMALL LETTER C
It doesn't remove bad characters, but replaces them with U+FFFD. You could play with decode's third arg, or you could simply strip out the replacement character aftewards.
s/\x{FFFD}//g;
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