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Papers by Radu-Emil Precup

Research paper thumbnail of Hybrid Data-Driven Active Disturbance Rejection Sliding Mode Control with Tower Crane Systems Validation

Romanian Journal of Information Science and Technology, Mar 26, 2024

Research paper thumbnail of Synergy of computers, cognition, communication and control with industrial applications

Computers in Industry, Dec 1, 2015

Research paper thumbnail of Performance Improvement of Low-Cost Iterative Learning-Based Fuzzy Control Systems for Tower Crane Systems

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2022

This paper is dedicated to the memory of Prof. Ioan Dzitac, one of the fathers of this journal an... more This paper is dedicated to the memory of Prof. Ioan Dzitac, one of the fathers of this journal and its founding Editor-in-Chief till 2021. The paper addresses the performance improvement of three Single Input-Single Output (SISO) fuzzy control systems that control separately the positions of interest of tower crane systems, namely the cart position, the arm angular position and the payload position. Three separate low-cost SISO fuzzy controllers are employed in terms of first order discrete-time intelligent Proportional-Integral (PI) controllers with Takagi-Sugeno-Kang Proportional-Derivative (PD) fuzzy terms. Iterative Learning Control (ILC) system structures with PD learning functions are involved in the current iteration SISO ILC structures. Optimization problems are defined in order to tune the parameters of the learning functions. The objective functions are defined as the sums of squared control errors, and they are solved in the iteration domain using the recent metaheuristic...

Research paper thumbnail of Q-Learning, Policy Iteration and Actor-Critic Reinforcement Learning Combined with Metaheuristic Algorithms in Servo System Control

Research paper thumbnail of Call for Papers Special Issue on Machine Learning and Big Data in Control Systems in the Control Engineering and Applied Informatics (CEAI) journal, http://ceai.srait.ro

The deadline has been extended. The correspondence with CEAI including the paper submission will... more The deadline has been extended.
The correspondence with CEAI including the paper submission will be carried out using the webpage http://ceai.srait.ro and respecting the instructions for authors specific to CEAI and also IFAC.

Research paper thumbnail of Colored Petri nets-based control and experimental validation on three-tank system level control

International Journal of General Systems

Research paper thumbnail of Fictitious Reference Iterative Tuning of Intelligent Proportional-Integral Controllers for Tower Crane Systems

Research paper thumbnail of Model-free sliding mode control of nonlinear systems: Algorithms and experiments

Information Sciences, Mar 1, 2017

Two model-free sliding mode control system (MFSMCS) structures are proposed.The sliding mode cont... more Two model-free sliding mode control system (MFSMCS) structures are proposed.The sliding mode control of the tracking error dynamics is carried out.The design approaches specific to MFSMCS structures are model-free in tuning.Lyapunov's stability theory is employed in the design approaches.The experimental validation on a twin rotor aerodynamic system is included. This paper proposes two model-free sliding mode control system (MFSMCS) structures. The new structures are compared with a model-free intelligent proportional-integral (iPI) control system structure. Two simple design approaches for the MFSMCS structures are suggested. The control system structures and the design approaches are validated by a set of real-time experimental results on a nonlinear laboratory twin rotor aerodynamic system (TRAS). The MFSMCS structures are considered in the framework of a Multi Input-Multi Output TRAS control system, where the azimuth and pitch positions are controlled using separate Single Input-Single Output control system structures for each control channel (azimuth and pitch). The experimental validation is carried out by two scenarios that illustrate and allow the assessment of the MFSMCS structures performance and the comparison versus a model-free iPI control system structure as well. Display Omitted

Research paper thumbnail of Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation

IEEE transactions on neural networks and learning systems, Nov 1, 2015

Research paper thumbnail of ツインロータ空力システムの位置制御のための進化的ファジィモデル【Powered by NICT】

IEEE Conference Proceedings, 2016

Research paper thumbnail of Hybrid nature-inspired algorithms for the optimal tuning of fuzzy controllers

Research paper thumbnail of PI and PID controller tuning for an automotive application using backtracking search optimization algorithms

This paper proposes the optimal tuning of the parameters of PI and PID controllers for an automot... more This paper proposes the optimal tuning of the parameters of PI and PID controllers for an automotive application by Backtracking Search Optimization Algorithms (BSOAs). The automotive application is related to the position control of pancake DC torque motor systems. The effects of the population size, which is an important parameter of BSOAs, on the performance of both the BSOAs and the position control system are discussed using simulation results.

Research paper thumbnail of マルチ入力マルチ出力タンクシステムデータ駆動モデル規範制御【Powered by NICT】

IEEE Conference Proceedings, 2017

Research paper thumbnail of Comparative Study of Control Structures for Maglev Systems

This paper presents the design of three control structures that control the ferromagnetic sphere ... more This paper presents the design of three control structures that control the ferromagnetic sphere position of a magnetic levitation (Maglev) system. The control structures are a Tensor Product-based model transformation control structure, an anti-windup Proportional-Integral-Derivative Gain-Scheduling control structure (aw-PID-GS-CS) and the combination of these two structures (CCS). Some real time experiments and a comparative study are given for two control structures: aw-PID-GS-CS and CCS.

Research paper thumbnail of Proportional-integral gain-scheduling control of a magnetic levitation system

The paper presents the design of a proportional-integral gain-scheduling control for the position... more The paper presents the design of a proportional-integral gain-scheduling control for the position control of the sphere in a magnetic levitation system laboratory equipment. The unstable and nonlinear mathematical model of the process is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. Proportional-integral and proportional-integral gain-scheduling control structures are next designed to ensure zero steady-state control error and the switching between the proportional-integral controllers separately designed for the linearized mathematical models. Some results measured after real-time experiments are presented for validation.

Research paper thumbnail of ROS-based robot navigation and human interaction in indoor environment

This paper sets the basis of a robot collaborative application framework that is able to perform ... more This paper sets the basis of a robot collaborative application framework that is able to perform basic interactions with a human partner, namely patrol and monitor a designated area, followed by interaction with a human participant when this is detected. The application is developed using an adaptation of ROS to Corobot robot and image processing techniques that involve OpenCV face detection.

Research paper thumbnail of Tensor product-based model transformation for position control of magnetic levitation systems

This paper presents an application of the Tensor Product-based model transformation to the real-t... more This paper presents an application of the Tensor Product-based model transformation to the real-time position control of magnetic levitation systems. Three cases that depend on the number of singular values are presented. All case studies are validated by experiments conducted related to the sphere position control of a laboratory magnetic levitation system.

Research paper thumbnail of Multi‐input–multi‐output system experimental validation of model‐free control and virtual reference feedback tuning techniques

Iet Control Theory and Applications, Aug 1, 2016

Research paper thumbnail of 非線形実験室ツインロータ空力システムのモデル予測制御【Powered by NICT】

IEEE Conference Proceedings, 2017

Research paper thumbnail of 多変数空力システム位置制御のための混合MFC VRFTアプローチ【Powered by NICT】

IEEE Conference Proceedings, 2016

Research paper thumbnail of Hybrid Data-Driven Active Disturbance Rejection Sliding Mode Control with Tower Crane Systems Validation

Romanian Journal of Information Science and Technology, Mar 26, 2024

Research paper thumbnail of Synergy of computers, cognition, communication and control with industrial applications

Computers in Industry, Dec 1, 2015

Research paper thumbnail of Performance Improvement of Low-Cost Iterative Learning-Based Fuzzy Control Systems for Tower Crane Systems

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2022

This paper is dedicated to the memory of Prof. Ioan Dzitac, one of the fathers of this journal an... more This paper is dedicated to the memory of Prof. Ioan Dzitac, one of the fathers of this journal and its founding Editor-in-Chief till 2021. The paper addresses the performance improvement of three Single Input-Single Output (SISO) fuzzy control systems that control separately the positions of interest of tower crane systems, namely the cart position, the arm angular position and the payload position. Three separate low-cost SISO fuzzy controllers are employed in terms of first order discrete-time intelligent Proportional-Integral (PI) controllers with Takagi-Sugeno-Kang Proportional-Derivative (PD) fuzzy terms. Iterative Learning Control (ILC) system structures with PD learning functions are involved in the current iteration SISO ILC structures. Optimization problems are defined in order to tune the parameters of the learning functions. The objective functions are defined as the sums of squared control errors, and they are solved in the iteration domain using the recent metaheuristic...

Research paper thumbnail of Q-Learning, Policy Iteration and Actor-Critic Reinforcement Learning Combined with Metaheuristic Algorithms in Servo System Control

Research paper thumbnail of Call for Papers Special Issue on Machine Learning and Big Data in Control Systems in the Control Engineering and Applied Informatics (CEAI) journal, http://ceai.srait.ro

The deadline has been extended. The correspondence with CEAI including the paper submission will... more The deadline has been extended.
The correspondence with CEAI including the paper submission will be carried out using the webpage http://ceai.srait.ro and respecting the instructions for authors specific to CEAI and also IFAC.

Research paper thumbnail of Colored Petri nets-based control and experimental validation on three-tank system level control

International Journal of General Systems

Research paper thumbnail of Fictitious Reference Iterative Tuning of Intelligent Proportional-Integral Controllers for Tower Crane Systems

Research paper thumbnail of Model-free sliding mode control of nonlinear systems: Algorithms and experiments

Information Sciences, Mar 1, 2017

Two model-free sliding mode control system (MFSMCS) structures are proposed.The sliding mode cont... more Two model-free sliding mode control system (MFSMCS) structures are proposed.The sliding mode control of the tracking error dynamics is carried out.The design approaches specific to MFSMCS structures are model-free in tuning.Lyapunov's stability theory is employed in the design approaches.The experimental validation on a twin rotor aerodynamic system is included. This paper proposes two model-free sliding mode control system (MFSMCS) structures. The new structures are compared with a model-free intelligent proportional-integral (iPI) control system structure. Two simple design approaches for the MFSMCS structures are suggested. The control system structures and the design approaches are validated by a set of real-time experimental results on a nonlinear laboratory twin rotor aerodynamic system (TRAS). The MFSMCS structures are considered in the framework of a Multi Input-Multi Output TRAS control system, where the azimuth and pitch positions are controlled using separate Single Input-Single Output control system structures for each control channel (azimuth and pitch). The experimental validation is carried out by two scenarios that illustrate and allow the assessment of the MFSMCS structures performance and the comparison versus a model-free iPI control system structure as well. Display Omitted

Research paper thumbnail of Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation

IEEE transactions on neural networks and learning systems, Nov 1, 2015

Research paper thumbnail of ツインロータ空力システムの位置制御のための進化的ファジィモデル【Powered by NICT】

IEEE Conference Proceedings, 2016

Research paper thumbnail of Hybrid nature-inspired algorithms for the optimal tuning of fuzzy controllers

Research paper thumbnail of PI and PID controller tuning for an automotive application using backtracking search optimization algorithms

This paper proposes the optimal tuning of the parameters of PI and PID controllers for an automot... more This paper proposes the optimal tuning of the parameters of PI and PID controllers for an automotive application by Backtracking Search Optimization Algorithms (BSOAs). The automotive application is related to the position control of pancake DC torque motor systems. The effects of the population size, which is an important parameter of BSOAs, on the performance of both the BSOAs and the position control system are discussed using simulation results.

Research paper thumbnail of マルチ入力マルチ出力タンクシステムデータ駆動モデル規範制御【Powered by NICT】

IEEE Conference Proceedings, 2017

Research paper thumbnail of Comparative Study of Control Structures for Maglev Systems

This paper presents the design of three control structures that control the ferromagnetic sphere ... more This paper presents the design of three control structures that control the ferromagnetic sphere position of a magnetic levitation (Maglev) system. The control structures are a Tensor Product-based model transformation control structure, an anti-windup Proportional-Integral-Derivative Gain-Scheduling control structure (aw-PID-GS-CS) and the combination of these two structures (CCS). Some real time experiments and a comparative study are given for two control structures: aw-PID-GS-CS and CCS.

Research paper thumbnail of Proportional-integral gain-scheduling control of a magnetic levitation system

The paper presents the design of a proportional-integral gain-scheduling control for the position... more The paper presents the design of a proportional-integral gain-scheduling control for the position control of the sphere in a magnetic levitation system laboratory equipment. The unstable and nonlinear mathematical model of the process is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. Proportional-integral and proportional-integral gain-scheduling control structures are next designed to ensure zero steady-state control error and the switching between the proportional-integral controllers separately designed for the linearized mathematical models. Some results measured after real-time experiments are presented for validation.

Research paper thumbnail of ROS-based robot navigation and human interaction in indoor environment

This paper sets the basis of a robot collaborative application framework that is able to perform ... more This paper sets the basis of a robot collaborative application framework that is able to perform basic interactions with a human partner, namely patrol and monitor a designated area, followed by interaction with a human participant when this is detected. The application is developed using an adaptation of ROS to Corobot robot and image processing techniques that involve OpenCV face detection.

Research paper thumbnail of Tensor product-based model transformation for position control of magnetic levitation systems

This paper presents an application of the Tensor Product-based model transformation to the real-t... more This paper presents an application of the Tensor Product-based model transformation to the real-time position control of magnetic levitation systems. Three cases that depend on the number of singular values are presented. All case studies are validated by experiments conducted related to the sphere position control of a laboratory magnetic levitation system.

Research paper thumbnail of Multi‐input–multi‐output system experimental validation of model‐free control and virtual reference feedback tuning techniques

Iet Control Theory and Applications, Aug 1, 2016

Research paper thumbnail of 非線形実験室ツインロータ空力システムのモデル予測制御【Powered by NICT】

IEEE Conference Proceedings, 2017

Research paper thumbnail of 多変数空力システム位置制御のための混合MFC VRFTアプローチ【Powered by NICT】

IEEE Conference Proceedings, 2016

Research paper thumbnail of Call for Book Chapters Solar Photovoltaic Power Plants: Advanced Control and Optimization Techniques

Dear Researcher/Professor and Expert, Currently, we are in the process of editing two forthcomin... more Dear Researcher/Professor and Expert,
Currently, we are in the process of editing two forthcoming books tentatively entitled 1) Solar Photovoltaic Power Plants: Advanced Control and Optimization Techniques, and 2) Advanced Control and Optimization Paradigms for Wind Energy Systems, both to be publishedby Springer Nature,a world-class publisher with a reputation for quality, expertise and integrity (http://www.springer.com/gp). Wewould like to take this opportunity to cordially invite you to submit your work for consideration in these publications.Furthermore, the quality is very important since these books will be distributed worldwide. All the submitted book chapters will undergo through a peer preview process where 4 experts will individually go through the work to uphold the quality and validity of the book. The deadline for submitting chapter proposals is January 20, 2018; the deadline for submitting full chapters is April 30, 2018. These publications are anticipated to be released in 2018. There are NO submission or acceptance fees for manuscripts submitted to these book publications. Authors of accepted chapters will get a free e-book after publication.
For more information and proposals submission, please check the call page, https://sites.google.com/view/cfb-renewable, and/or the attachments.
Finally, we would appreciate if you can share this invitation with your colleagues, and we apologize if you have received this call multiple times.
Thank you very much for your consideration of this invitation, and we hope to hear from you soon.
Regards,
The editors

Research paper thumbnail of Call for Book Chapters Advanced Control and Optimization Paradigms for Wind Energy Systems

Dear Researcher/Professor and Expert, Currently, we are in the process of editing two forthcomin... more Dear Researcher/Professor and Expert,
Currently, we are in the process of editing two forthcoming books tentatively entitled 1) Solar Photovoltaic Power Plants: Advanced Control and Optimization Techniques, and 2) Advanced Control and Optimization Paradigms for Wind Energy Systems, both to be published by Springer Nature,a world-class publisher with a reputation for quality, expertise and integrity (http://www.springer.com/gp). We would like to take this opportunity to cordially invite you to submit your work for consideration in these publications.Furthermore, the quality is very important since these books will be distributed worldwide. All the submitted book chapters will undergo through a peer preview process where 4 experts will individually go through the work to uphold the quality and validity of the book. The deadline for submitting chapter proposals is January 20, 2018; the deadline for submitting full chapters is April 30, 2018. These publications are anticipated to be released in 2018. There are NO submission or acceptance fees for manuscripts submitted to these book publications. Authors of accepted chapters will get a free e-book after publication.
For more information and proposals submission, please check the call page, https://sites.google.com/view/cfb-renewable, and/or the attachments.
Finally, we would appreciate if you can share this invitation with your colleagues, and we apologize if you have received this call multiple times.
Thank you very much for your consideration of this invitation, and we hope to hear from you soon.
Regards,
The editors

Research paper thumbnail of Call for Papers Special Issue on Machine Learning and Big Data in Control Systems in the Control Engineering and Applied Informatics (CEAI) journal, http://ceai.srait.ro

Intelligent control is based on the synergistic combination of advances in Internet of Things (Io... more Intelligent control is based on the synergistic combination of advances in Internet of
Things (IoT), Crowdsensing technologies, Big Data (BD) analytics, Mobile and Cloud
Computing, Artificial Intelligence (AI), and Smart Cyber-Physical Systems. In recent years,
AI and BD are both accomplishing big technological advances. The integration of the
techniques specific to Machine Learning (ML) and BD in control systems leads to control
systems with several degrees of intelligence, developed in the framework of both modelbased
and data-driven control.
Regardless of the great progress, applying learning control and BD to industrial systems
with high degrees of freedom, nonlinear-in-the-parameter uncertainties, or nonparametric
uncertainties is still challenging. Besides, research results on the systematic integration of
learning control and other control approaches with successful real-world applications are rare.
Concepts and algorithms developed in intelligent control, ML and BD help the complex
systems to adapt to the varying environment with the help from sensors, actuators,
computation technology and communication networks. This special issue aims to tighten the
bond between the control theory, the data theory and the learning theory and their real-world
applications.
Researchers, developers, and industry experts are welcome to contribute to one of the
following topics or slightly similar ones:
 Intelligent control systems
 Machine learning in control applications
 Autonomous control systems
 Modeling and identification of nonlinear systems
 Cognitive robotics
 Adaptive control of nonlinear process
 Predictive nonlinear control
 Modeling of nonlinear complex systems
 Big Data analytics and applications in control
 AI for future control systems architectures
 Cloud data mining and robot intelligence
 Cloud intelligence agents and robotics
Important Dates:
Submission deadline: 21 September 2023
First round of revision: 21 October 2023
Revised version submission: 21 November 2023
Final Decision: 12 December 2023
The correspondence with CEAI including the paper submission will be carried out using the
webpage http://ceai.srait.ro and respecting the instructions for authors specific to CEAI and
also IFAC.
Guest Editors:
Acad. Ioan Dumitrache, Prof. Radu-Emil Precup

Research paper thumbnail of CFP: Special Issue on Machine Learning and Big Data in Control Systems in the Control Engineering and Applied Informatics (CEAI) journal, http://ceai.srait.ro

Intelligent control is based on the synergistic combination of advances in Internet of Things (Io... more Intelligent control is based on the synergistic combination of advances in Internet of Things (IoT), Crowdsensing technologies, Big Data (BD) analytics, Mobile and Cloud Computing, Artificial Intelligence (AI), and Smart Cyber-Physical Systems. In recent years, AI and BD are both accomplishing big technological advances. The integration of the techniques specific to Machine Learning (ML) and BD in control systems leads to control systems with several degrees of intelligence, developed in the framework of both model-based and data-driven control.
Regardless of the great progress, applying learning control and BD to industrial systems with high degrees of freedom, nonlinear-in-the-parameter uncertainties, or nonparametric uncertainties is still challenging. Besides, research results on the systematic integration of learning control and other control approaches with successful real-world applications are rare. Concepts and algorithms developed in intelligent control, ML and BD help the complex systems to adapt to the varying environment with the help from sensors, actuators, computation technology and communication networks. This special issue aims to tighten the bond between the control theory, the data theory and the learning theory and their real-world applications.
Researchers, developers, and industry experts are welcome to contribute to one of the following topics or slightly similar ones:
• Intelligent control systems
• Machine learning in control applications
• Autonomous control systems
• Modeling and identification of nonlinear systems
• Cognitive robotics
• Adaptive control of nonlinear process
• Predictive nonlinear control
• Modeling of nonlinear complex systems
• Big Data analytics and applications in control
• AI for future control systems architectures
• Cloud data mining and robot intelligence
• Cloud intelligence agents and robotics

Important Dates:
Submission deadline: 21 September 2023
First round of revision: 21 October 2023
Revised version submission: 21 November 2023
Final Decision: 12 December 2023

The correspondence with CEAI including the paper submission will be carried out using the webpage http://ceai.srait.ro and respecting the instructions for authors specific to CEAI and also IFAC.

Guest Editors:
Acad. Ioan Dumitrache, Prof. Radu-Emil Precup

Research paper thumbnail of Special Issue on Energy Efficiency and Data-Driven Control in Energies

Energies, 2019

Dear potential authors, The deadline for the Special Issue on Energy Efficiency and Data-Driven C... more Dear potential authors,
The deadline for the Special Issue on Energy Efficiency and Data-Driven Control in Energies has been extended to July 31st, 2019.
Best regards,
The guest editors

Research paper thumbnail of Special Issue on Energy Efficiency and Data-Driven Control

The papers in this Special Issue are expected to provide recent results in advanced controller de... more The papers in this Special Issue are expected to provide recent results in advanced controller design and tuning techniques focusing on energy efficiency and data-driven control. Papers containing experimental results in advanced control systems and optimization are welcome.