Speaker: Academician Radu-Emil Precup
Title: 2-DOF Fuzzy Controllers and Mechatronics Applications
Time: 14:30-15:30, Octoober 11, 2022 (Tuesday)
Website: Teams Link
Abstract:
As pointed out in some classical papers on control, the extension from one-degree-of-freedom (1-DOF) controllers to two-degree-of-freedom (2-DOF) controllers enables the separate design with respect to the reference input (or the set-point) and the disturbance input (usually of load- type) in terms of a feedforward connection and transfer element inserted in the controller (and thus control system) structure. This allows the design of control systems with good dynamics performance with respect to both the reference input and the disturbance input, namely good set-point tracking and good disturbance rejection. The transition of the results specific to linear controllers to the fuzzy ones was suggested by Precup and Preitl in 1999 and 2003 leading to 2-DOF fuzzy controllers, which were first called fuzzy controlllers with non- homogenous dynamics with respect to the input channels, and further developed in 2009 and 2012 and applied to servo systems and electrical drives. This transition gives the opportunity to improve the control system performance especially when dealing with nonlinear processes.This lecture presents several issues concerning the design, tuning and implementation of 2-DOF fuzzy controllers focusing on 2-DOF PI-fuzzy controllers and 2-DOF PID-fuzzy controllers in their Mamdani and Takagi-Sugeno-Kang forms. The tuning is based on mapping the parameters of the linear PI and PID controllers to the parameters of the fuzzy controllers in terms of the modal equivalence principle. The linear controllers are tuned by Preitl’s and Precup’s Extended Symmetrical Optimum method (1999). The classical algebraic approach based on Diophantine equations and mapping the parameters of the 2-DOF linear controllers to the parameters of the 2-DOF fuzzy ones will be treated as well. This lecture highlights a part of the results obtained by the Process Control group in applications of 2-DOF fuzzy controllers. The results outlined in this lecture are related to processes in representative lab equipment in Process Control group’s labs and control systems in past and ongoing research contracts. Digital simulation results and experimental results are included.
Personal Introduction:
Radu-Emil Precup is currently a Director of the Council of Doctoral Studies of the Politehnica University of Timisoara, Romania, a member of the Council of the Doctoral School Automatic Control and Computers, Politehnica University of Bucharest, Romania, a member of the Computers, information technology and systems engineering committee as part of the CNATDCU, a director of the Automatic Systems Engineering Research Centre with the Politehnica University of Timisoara, Romania, a professor with the Department of Automation and Applied (previously named Industrial) Informatics, Faculty of Automation and Computers, Politehnica University of Timisoara, Romania, a reviewer of the Swiss National Science Foundation (SNSF), Bern, Switzerland, CINECA, Bologna, Italy, the National Council of Science and Technology (CONACYT), Ciudad de Mexico, Mexico, and the Mobility and Reintegration Programme (MoRePro) of the Slovak Academy of Sciences, Bratislava, Slovakia, etc. He's current research fields include development and analysis of new control structures and algorithms including conventional control, fuzzy control, data-based control, model-free control, sliding mode control, neuro-fuzzy control; theory and applications of soft computing; systems modelling, identification and optimization (including nature-inspired algorithms); computer-aided design of control systems; applications to mechatronic systems (including automotive systems and mobile robots), embedded systems, control of power plants, servo systems, electrical driving systems, etc. So far, he has published nearly 30 monographs, published more than 380 high-quality papers, and was invited to give 19 academic speeches.
[Editor: Xiaohan Liu]