RADU-CODRUT DAVID
Nature-inspired Modeling and Optimization Techniques of Fuzzy Control Systems with Mechatronics Applications
NATURE-INSPIRED MODELING AND OPTIMIZATION TECHNIQUES OF FUZZY CONTROL SYSTEMS WITH MECHATRONICS APPLICATIONS
PN-III-P1-1.1-PD-2016-0683
Because of the use of non-convex or non-differentiable objective functions resulting from processes’ complexity found in real-world mechatronics applications, optimal tuning of fuzzy controllers is one of the most challenging optimization problems. Although fuzzy control systems have proven to be effective control solutions in a range of application domains and real-world applications, their performance can be improved further, correlated with the imposed performance specifications.
Nature-inspired algorithms have recently been employed as tangible solutions for solving optimization problems across various application domains. One of the main advantages of these nature-inspired algorithms consists in avoiding differential computation, which allows them to have a reduced implementation and computational costs.
The aim of this project is to demonstrate efficiency and prove the viability of an innovative tuning approach for fuzzy control systems using nature-inspired algorithms in control structures modeling and optimization stages. In this framework, combining nature-inspired optimization algorithms with fuzzy control structures, will have a significant impact on the performance of fuzzy control systems.
The nature-inspired optimization algorithms will be employed in solving optimization problems that minimize discrete-time objective functions expressed as integral or sum-type quadratic performance indices. Consequently, the variables of the objective functions are mapped onto the parameters of fuzzy controllers, thus obtaining an optimal tuning technique that uses a reduced number of search parameters and cost-effective implementation.
Validating the solutions through experimental results using state-of-the-art laboratory equipment, further demonstrates the viability and performance of this approach.
RESEARCH RESULTS
Stage 1 (2018) Scientific report
Stage 2 (2019) Scientific report
Stage 3 (2020) Final Scientific report
Publications:
A.-I. Szedlak-Stinean, R.-E. Precup, R.-C. David, State Observers for Mechatronics Systems with Rigid and Flexible Drive Dynamics.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pp 387-394, 2019, DOI: 10.5220/0007921203870394
A.-I. Szedlak-Stinean, R.-E. Precup, R.-C. David, Speed and Acceleration Control of BLDC Drives Using Different Types of Observers, SACI 2019
R. -C. David, R. -E. Precup, S. Preitl, A. -I. Szedlak-Stinean, R. -C. Roman and E. M. Petriu, "Design of Low-Cost Fuzzy Controllers with Reduced Parametric Sensitivity Based on Whale Optimization Algorithm," 2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Glasgow, United Kingdom, 2020, pp. 1-6.
R. -C. David, R. -E. Precup, S. Preitl, E. M. Petriu, A. -I. Szedlak-Stinean and R. -C. Roman, "Whale Optimization Algorithm-Based Tuning of Low-Cost Fuzzy Controllers with Reduced Parametric Sensitivity," 2020 28th Mediterranean Conference on Control and Automation (MED), Saint-Raphaël, France, 2020, pp. 440-445.
R. -C. David, R. -E. Precup, S. Preitl, A. -I. Szedlak-Stinean, R. -C. Roman and E. M. Petriu, "Fuzzy Control Systems with Reduced Parametric Sensitivity Design Based on Hybrid Grey Wolf Optimizer–Particle Swarm Optimization," 24th International Conference on System Theory, Control and Computing Joint Conference (ICSTCC), Sinaia, Romania, 2020.
R. -C. Roman, R. -E. Precup, E. M. Petriu, R. -C. David, E. -L. Hedrea and A. -I. Szedlak-Stinean, "First Order Active Disturbance Rejection Virtual Reference Feedback Tuning Control of Tower Crane Systems," 24th International Conference on System Theory, Control and Computing Joint Conference (ICSTCC), Sinaia, Romania, 2020.
D. Komor, R. Roman, R. Precup, R. David and I. Pamfilii, "Models of Two-Wheeled Mobile Robots with Experimental Validation," 2020 IEEE 14th International Symposium on Applied Computational Intelligence and Informatics (SACI), Timisoara, Romania, 2020, pp. 000211-000216.
R. -E. Precup, R. -C. David, R. -C. Roman, E. M. Petriu and A. -I. Szedlak-Stinean, „Slime Mould Algorithm-based Tuning of Low-Cost Fuzzy Controllers for Servo Systems," International Journal of Computational Intelligence Systems
R.-E. Precup, E.-I. Voisan, E. M. Petriu, M. L. Tomescu, R.-C. David, A.-I. Szedlak-Stinean and R.-C. Roman, "Grey Wolf Optimizer-Based Approaches to Path Planning and Fuzzy Logic-based Tracking Control for Mobile Robots, " International Journal of Computers Communications & Control, vol. 15, no. 3, 3844, pp. 1-17, Jun. 2020.