Data-driven fuzzy control with experimental validation, 249844.58 EUR, national exploratory research grant (PCE), financed by the Executive Agency for Higher Education, Research, Development and Innovation Funding (UEFISCDI), 2021-2023, project code: PN-III-P4-ID-PCE-2020-0269
Reglare fuzzy data-driven cu validare experimentală, 1197286 lei, proiect de cercetare exploratorie (PCE), finanțat de Unitatea Executivă pentru Finanțarea Învățământului Superior, a Cercetării, Dezvoltarii și Inovării (UEFISCDI), cod proiect: PN-III-P4-ID-PCE-2020-0269

The team / Echipa:

• Prof. Dr.-Ing. Radu-Emil Precup - director, principal investigator / director.
• Lect. Dr.-Ing. Claudia-Adina Bojan-Dragoş - experienced researcher / cercetător cu experiență.
• Lect. Dr.-Ing. Adriana Albu - experienced researcher / cercetător cu experiență.
• Lect. Dr.-Ing. Alexandra-Iulia Szedlak-Stînean - experienced researcher / cercetător cu experiență.
• Lect. Dr. Ioan-Ciprian Hedrea - experienced researcher / cercetător cu experiență.
• Assist. Lect. Dr.-Ing. Raul-Cristian Roman - postdoc / postdoctorand.
• Lect. Dr.-Ing. Ion-Cornel Mituleţu - PhD student / student doctorand.
• M.Sc. Ing. Elena-Lorena Hedrea - PhD student / student doctorand.

Abstract:

• Fuzzy controllers are an important part of the general class of nonlinear controllers as they are relatively easily understandable and also offer very good control system (CS) performance. An alternative to the classical model-based control is represented by data-driven control (DDC), a hot topic in academia and industry as well. The advantage of DDC is the use of only the input-output data of the process, which is useful if the mathematical model of the controlled process is complex or its identification is very difficult. That is the main reason of the high increased interest for nonlinear controllers whose parameters are determined using the input-output data of the controlled processes, especially in the area of industrial control engineering practitioners. This project proposes the development of new data-driven fuzzy controllers (DDFCs) for nonlinear processes with shape memory alloy (SMA) actuators in order to benefit from the advantages of both fuzzy control and DDC. SMA, as a relatively complex nonlinear process, is challenging and also advantageous by silent operation and acting by contractions like a human muscle, playing the role of actuator in CSs. The new CS structures with DDFCs will be tested and validated experimentally on several classes of processes that include SMA actuators and lab equipment of the research team. They will also be validated as industrial controllers with the support of team’s external partners from Romania, Canada, UK and Australia.

Rezumat:

• Regulatoarele fuzzy sunt elemente neliniare importante deoarece sunt înțelese relativ ușor și garantează obținerea unor performanțe foarte bune ale sistemelor de reglare automată (SRA). Data-driven control (DDC), o temă de interes actual științific și industrial, este o alternativă față de reglarea clasică bazată pe model. Avantajul DDC este utilizarea doar a datelor de intrare-ieșire ale procesului condus (PC) în acordarea parametrilor, benefic în situații în care modelul matematic al PC este complex sau identificarea sa este extrem de dificilă. Acesta a dus la interes ridicat pentru regulatoare neliniare ai căror parametri sunt acordați utilizând datele de intrare-ieșire ale PC. În cadrul proiectului este propusă dezvoltarea unor noi regulatoare fuzzy data-driven (RFDD) pentru procesele neliniare de tip aliaje cu memoria formei (engl. shape memory alloy – SMA) pentru a beneficia de avantajele reglării fuzzy și DDC. SMA, ca procese neliniare relativ complexe, reprezintă o provocare dar sunt și avantajoase (funcționare silențioasă și acționează prin contracție precum mușchii umani), fiind utile ca elemente de execuție în SRA. Noile structuri de SRA cu RFDD vor fi testate și validate experimental pe diverse clase de procese care includ elemente de execuție bazate pe SMA și echipamente din laboratoarele echipei de cercetare. Noile RFDD vor fi validate și ca regulatoare industriale prin intermediul partenerilor din mediul industrial din România, Canada, Anglia și Australia.

Objective:

• The main objective of this project is to develop new data-driven fuzzy controllers for nonlinear processes. The achievement of this objective requires the achievement of the following particular objectives (1., 2., 3., 4., 5., 6. and 7.) during the three years of the project:
  1. The analysis, design and implementation of new DDC algorithms.
  2. The analysis, design and implementation of new fuzzy control (FC) algorithms.
  3. The analysis, design and implementation of three new DDFC algorithms.
  4. The validation of the new control algorithms by experiments conducted on laboratory equipment that may include SMA actuators.
  5. The validation of the proposed control algorithms as controllers for real-world processes.
  6. The dissemination of results focusing on high visibility journals and important conferences.
  7. Solving the project management issues.
  

Obiectiv:

• Obiectivul principal al proiectului este dezvoltarea de regulatoare noi fuzzy data-driven pentru procese neliniare. Realizarea acestui obiectiv necesită realizarea obiectivelor particulare următoare (1., 2., 3., 4., 5., 6. și 7.) pe parcursul celor trei ani ai proiectului:
  1. Analiza, proiectarea și implementarea unor algoritmi noi de tip Data-Driven Control (DDC).
  2. Analiza, proiectarea și implementarea unor algoritmi noi de reglare fuzzy (engl. Fuzzy Control, FC).
  3. Analiza, proiectarea și implementarea a trei algoritmi noi Data-Driven Fuzzy Control (DDFC).
  4. Validarea noilor algoritmi de reglare prin experimente realizate pe echipamente de laborator în legătură cu elemente de execuție cu SMA sau alte echipamente de laborator.
  5. Validarea algoritmilor de reglare propuși prin proiectarea de regulatoare pentru diverse procese reale.
  6. Diseminarea rezultatelor prin publicarea acestora în reviste din domeniu și în volumele unor conferințe internaționale cu vizibilitate ridicată.
  7. Rezolvarea problemelor legate de managementul proiectului.
  

Estimated results:

• Minimum three papers in high impact leading journals.
• Six conference papers presented at visible international conferences.
• Three data-driven fuzzy controllers ready to implement in industry.

Rezultate estimate:

• Minim trei lucrări în reviste din domeniu cu impact mare și vizibilitate ridicată.
• Șase lucrări prezentate la conferințe internaționale cu vizibilitate ridicată.
• Trei regulatoare fuzzy data-driven gata de implementare în industrie.

Research reports / Rapoarte de cercetare:

• Research report for 2022 (in English).
• Research report for 2021 (in Romanian and English), Abstract for 2021 (in English).

Overall results (2021-2023):

Rezultate globale (2021-2023):

Results in 2023 / Rezultate în 2023:

• 2 papers published in Clarivate Analytics Web of Science (formerly ISI Web of Knowledge) journals with impact factor, cumulated impact factor according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 4.261, 1 paper published in conference proceedings indexed in international databases (IEEE Xplore, INSPEC, Scopus, sciencedirect, Springer Link, DBLP).
• 2 lucrări publicate în reviste indexate în Clarivate Analytics Web of Science (cu una din denumirile anterioare ISI Web of Knowledge) cu factori de impact, factor de impact cumulat conform 2021 Journal Citation Reports (JCR) publicat de Clarivate Analytics în 2022 = 4.261, 1 lucrare publicată în volumele unor conferințe indexate în baze de date internaționale (IEEE Xplore, INSPEC, Scopus, sciencedirect, Springer Link, DBLP).

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• M. Brezovan, R.-E. Precup (corresponding author), D. Selişteanu and L. Stănescu, Colored Petri nets-based control and experimental validation on three-tank system level control, International Journal of General Systems (Taylor & Francis), vol. 51, no. 1, pp. 1-47, 2023, impact factor (IF) = 2.435, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 2.435 (www.tandfonline.com).
• R.-C. Roman, R.-E. Precup (corresponding author), E. M. Petriu and M. Muntyan, Fictitious Reference Iterative Tuning of Discrete-Time Model-Free Control for Tower Crane Systems, Studies in Informatics and Control (ICI Bucharest), vol. 32, no. 1, pp. 5-14, 2023, impact factor (IF) = 1.826, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 1.826 (sic.ici.ro).
• A.-I. Szedlak-Stînean, R.-E. Precup and R.-C. Roman, Linear and Nonlinear Observers Developed for Direct Current Electric Drive Systems, in: Intelligent Methods Systems and Applications in Computing, Communications and Control, 9^th International Conference on Computers Communications and Control (ICCCC) 2022, Baile Felix, Romania, 2022, S. Dzitac, D. Dzitac, F. G. Filip, J. Kacprzyk, M. J. Manolescu and H. Oros (Eds.), Advances in Intelligent Systems and Computing, vol. 1435, Springer, Cham, pp. 107-119, 2023, indexed in Springer Link (link.springer.com).

Results in 2022 / Rezultate în 2022:

• 7 papers published in Clarivate Analytics Web of Science (formerly ISI Web of Knowledge) journals with impact factor, cumulated impact factor according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 37.142, 5 papers published in conference proceedings indexed in Clarivate Analytics Web of Science (formerly ISI Web of Knowledge or ISI Proceedings), 7 papers published in conference proceedings indexed in international databases (IEEE Xplore, INSPEC, Scopus, sciencedirect, Springer Link, DBLP), 1 book published in Editura Politehnica, 2 book chapters published in Springer and World Scientific books.
• 7 lucrări publicate în reviste indexate în Clarivate Analytics Web of Science (cu una din denumirile anterioare ISI Web of Knowledge) cu factori de impact, factor de impact cumulat conform 2021 Journal Citation Reports (JCR) publicat de Clarivate Analytics în 2022 = 37.142, 5 lucrări publicate în volumele unor conferințe indexate în Clarivate Analytics Web of Science (cu unele din denumirile anterioare ISI Web of Knowledge sau ISI Proceedings), 7 lucrări publicate în volumele unor conferințe indexate în baze de date internaționale (IEEE Xplore, INSPEC, Scopus, sciencedirect, Springer Link, DBLP), 1 carte publicată în Editura Politehnica, 2 capitole publicate în cărți în Springer și World Scientific.

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• C. Pozna, R.-E. Precup (corresponding author), E. Horvath and E. M. Petriu, Hybrid Particle Filter-Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems, IEEE Transactions on Fuzzy Systems, vol. 30, no. 10, pp. 4286-4297, 2022, impact factor (IF) = 12.253, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 12.253 (ieeexplore.ieee.org).
• A.-I. Szedlak-Stînean, R.-E. Precup (corresponding author), E. M. Petriu, R.-C. Roman, E.-L. Hedrea and C.-A. Bojan-Dragoş, Extended Kalman filter and Takagi-Sugeno fuzzy observer for a strip winding system, Expert Systems with Applications (Elsevier Science), vol. 208, paper 118215, pp. 1-15, 2022, impact factor (IF) = 8.665, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 8.665 (www.sciencedirect.com).
• I. A. Zamfirache, R.-E. Precup (corresponding author), R.-C. Roman and E. M. Petriu, Reinforcement learning-based control using Q-learning and gravitational search algorithm with experimental validation on a nonlinear servo system, Information Sciences (Elsevier), vol. 583, pp. 99-120, 2022, impact factor (IF) = 8.233, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 8.233 (www.sciencedirect.com).
• R.-E. Precup, S. Preitl, C.-A. Bojan-Dragoş, E.-L. Hedrea, R.-C. Roman and E. M. Petriu, A low-cost approach to data-driven fuzzy control of servo systems, Facta Universitatis, Series: Mechanical Engineering (University of Nis), vol. 20, no. 1, pp. 21-36, 2022, impact factor (IF) = 4.622, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 4.622 (casopisi.junis.ni.ac.rs).
• R.-E. Precup, R.-C. Roman, E.-L. Hedrea, C.-A. Bojan-Dragoş, M.-M. Damian and M.-L. Nedelcea, Performance Improvement of Low-Cost Iterative Learning-Based Fuzzy Control Systems for Tower Crane Systems, International Journal of Computers Communications & Control, vol. 17, no. 1, 4623, pp. 1-18, 2022, impact factor (IF) = 2.635, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 2.635 (univagora.ro/jour/).
• R.-E. Precup, G. Duca, S. Travin and I. Zinicovscaia, Processing, neural network-based modeling of biomonitoring studies data and validation on Republic of Moldova data, Proceedings of the Romanian Academy, Series A: Mathematics, Physics, Technical Sciences, Information Science, vol. 23, no. 4, pp. 403-410, 2022, impact factor (IF) = 0.734, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 0.734 (acad.ro).
• I.-D. Borlea, R.-E. Precup (corresponding author) and A.-B. Borlea, Improvement of K-means Cluster Quality by Post Processing Resulted Clusters, Proceedings of 8^th International Conference on Information Technology and Quantitative Management ITQM 2020 & 2021, Chengdu, China, 2021, Procedia Computer Science (Elsevier), vol. 199, pp. 63-70, 2022, indexed in Clarivate Analytics Web of Science (www.sciencedirect.com).
• R.-C. Roman, R.-E. Precup, E.-L. Hedrea, S. Preitl, I. A. Zamfirache, C.-A. Bojan-Dragoş and E. M. Petriu, Iterative Feedback Tuning Algorithm for Tower Crane Systems, Proceedings of 8^th International Conference on Information Technology and Quantitative Management ITQM 2020 & 2021, Chengdu, China, 2021, Procedia Computer Science (Elsevier), vol. 199, pp. 157-165, 2022, indexed in Clarivate Analytics Web of Science (www.sciencedirect.com).
• R.-E. Precup, E.-L. Hedrea, R.-C. Roman, E. M. Petriu, C.-A. Bojan-Dragoş and A.-I. Szedlak-Stînean, GWO-Based Performance Improvement of PD-Type Iterative Learning Fuzzy Control of Tower Crane Systems, Proceedings of 2022 IEEE 31^st International Symposium on Industrial Electronics ISIE 2022, Anchorage, AK, USA, pp. 1041-1046, 2022, indexed in INSPEC and Scopus (ieeexplore.ieee.org).
• R.-E. Precup, E.-L. Hedrea, R.-C. Roman, E.-M. Petriu, C.-A. Bojan-Dragoş, A.-I. Szedlak-Stînean and F.-C. Paulescu, AVOA-Based Tuning of Low-Cost Fuzzy Controllers for Tower Crane Systems, Proceedings of 2022 IEEE International Conference on Fuzzy Systems FUZZ-IEEE 2022, Padova, Italy, pp. 1-8, 2022, indexed in Clarivate Analytics Web of Science (ieeexplore.ieee.org).
• C.-A. Bojan-Dragoş, R.-E. Precup, E. M. Petriu, R.-C. Roman, E.-L. Hedrea and A.-I. Szedlak-Stînean, GWO-Based Optimal Tuning of Controllers for Shape Memory Alloy Wire Actuators, Proceedings of 6^th IFAC International Conference on Intelligent Control and Automation Sciences ICONS'22, Cluj-Napoca, Romania, 2022, IFAC-PapersOnLine, vol. 55, no. 15, pp. 39-44, 2022, indexed in Clarivate Analytics Web of Science (www.sciencedirect.com).
• R.-C. Roman, R.-E. Precup, S. Preitl, A.-I. Szedlak-Stînean, C.-A. Bojan-Dragoş, E.-L. Hedrea and E. M. Petriu, PI Controller Tuning via Data-Driven Algorithms for Shape Memory Alloy Systems, Proceedings of 1^st IFAC Workshop on Control of Complex Systems COSY 2022, Bologna, Italy, 2022, IFAC-PapersOnLine, vol. 55, no. 40, pp. 181-186, 2022, indexed in Clarivate Analytics Web of Science (www.sciencedirect.com).
• R.-E. Roman, R.-E. Precup, S. Preitl, C.-A. Bojan-Dragoş, A.-I. Szedlak-Stînean and E.-L. Hedrea, Data-Driven Control Algorithms for Shape Memory Alloys, Proceedings of 2022 IEEE Conference on Control Technology and Applications CCTA 2022, Trieste, Italy, pp. 1306-1312, 2022, indexed in INSPEC and Scopus (ieeexplore.ieee.org).
• R.-E. Precup, E.-L. Hedrea, R.-C. Roman, E. M. Petriu, C.-A. Bojan-Dragoş, A.-I. Szedlak-Stînean and C. Hedrea, Evolving Fuzzy and Tensor Product-based Models for Tower Crane Systems, Proceedings of 48^th Annual Conference of the IEEE Industrial Electronics Society IECON 2022, Brussels, Belgium, pp. 1-6, 2022, indexed in INSPEC and Scopus (ieeexplore.ieee.org).
• A.-I. Szedlak-Stînean, R.-E. Precup, R.-C. Roman, E. M. Petriu, C.-A. Bojan-Dragoş and E.-L. Hedrea, Discrete-time Linear and Nonlinear Observers for an Electromechanical Plant with State Feedback Control, Proceedings of 2022 IEEE Symposium Series on Computational Intelligence SSCI 2022, Singapore, pp. 700-707, 2022, indexed in INSPEC (ieeexplore.ieee.org).
• C.-B. Gale-Cazan, C.-A. Bojan-Dragoş, R.-E. Precup (corresponding author), R.-C. Roman, E. M. Petriu and A.-I. Szedlak-Stînean, GWO-based Modeling of an Unstable Transport System, Proceedings of 9^th International Conference on Information Technology and Quantitative Management ITQM 2022, Beijing and Zhangjiakou, China, 2022, Procedia Computer Science (Elsevier), vol. 214, pp. 195-202, 2022, indexed in sciencedirect (www.sciencedirect.com).
• E.-L. Hedrea, R.-E. Precup, R.-C. Roman, C.-A. Bojan-Dragoş, A.-I. Szedlak-Stînean and C. Hedrea, Tensor Product-based and State Feedback Structures for Level Control of Vertical Three Tank Systems, Proceedings of 26^th International Conference on System Theory, Control and Computing ICSTCC 2022, Sinaia, Romania, pp. 195-200, 2022, indexed in Clarivate Analytics Web of Science (ieeexplore.ieee.org).
• M.-M. Damian and R.-E. Precup, Signal Preprocessing and Artifact Removal for Brain-Computer Interfaces, Proceedings of IEEE 16^th International Symposium on Applied Computational Intelligence and Informatics SACI 2022, Timisoara, Romania, pp. 51-54, 2022, indexed in INSPEC and Scopus (ieeexplore.ieee.org).
• F.-C. Paulescu and R.-E. Precup, Fuzzy Models for a Two-Wheeled Self-Balancing Robot, Proceedings of IEEE 16^th International Symposium on Applied Computational Intelligence and Informatics SACI 2022, Timisoara, Romania, pp. 277-282, 2022, indexed in INSPEC and Scopus (ieeexplore.ieee.org).
• C.-A. Bojan-Dragoş, R.-E. Precup and E.-L. Hedrea, Fuzzy Control Systems with Mechatronics Applications (in Romanian: Sisteme de reglare fuzzy cu aplicații mecatronice), Editura Politehnica, Timisoara, 162 pp., 2022.
• A. Albu, R.-E. Precup and T.-A. Teban, Intelligent Paradigms for Diagnosis, Prediction and Control in Healthcare Applications, in: Handbook of Artificial Intelligence in Healthcare, Vol. 2: Practicalities and Prospects, C.-P. Lim, Y.-W. Chen, A. Vaidya, C. Mahorkar and L. C. Jain, Eds., Springer, Cham, Intelligent Systems Reference Library, vol. 212, pp. 3-41, 2022, indexed in Scopus (link.springer.com, link.springer.com).
• R.-E. Precup and R.-C. David, Nature-Inspired Optimal Tuning of Fuzzy Controllers, Chapter 20 in Handbook on Computer Learning and Intelligence, 2^nd Edition, P. P. Angelov, Ed., World Scientific, Singapore, Volume 2: Deep Learning, Intelligent Control and Evolutionary Computation, pp. 775-808, 2022 (www.worldscientific.com, www.worldscientific.com).

Results in 2021 / Rezultate în 2021:

• 2 papers published in Clarivate Analytics Web of Science (formerly ISI Web of Knowledge) journals with impact factors, cumulated impact factor according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 5.848, 3 papers published in conference proceedings indexed in Clarivate Analytics Web of Science (formerly ISI Web of Knowledge or ISI Proceedings), 1 book published in CRC Press, Taylor & Francis, 1 book chapter published in Springer book.
• 2 lucrări publicate în reviste indexate în Clarivate Analytics Web of Science (cu una din denumirile anterioare ISI Web of Knowledge) cu factori de impact, factor de impact cumulat conform 2021 Journal Citation Reports (JCR) publicat de Clarivate Analytics în 2022 = 5.848, 3 lucrări publicate în volumele unor conferințe indexate în Clarivate Analytics Web of Science (cu unele din denumirile anterioare ISI Web of Knowledge sau ISI Proceedings), 1 carte publicată în CRC Press, Taylor & Francis, 1 capitol publicat în carte în Springer.

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• A. Topîrceanu and R.-E. Precup, A novel geo-hierarchical population mobility model for spatial spreading of resurgent epidemics, Scientific Reports (Nature), vol. 11, paper 14341, pp. 1-12, 2021, impact factor (IF) = 4.996, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 4.996 (www.nature.com).
• R.-E. Precup, C.-A. Bojan-Dragoş, E.-L. Hedrea, R.-C. Roman and E. M. Petriu, Evolving Fuzzy Models of Shape Memory Alloy Wire Actuators, Romanian Journal of Information Science and Technology (Romanian Academy, Section for Information Science and Technology), vol. 24, no. 4, pp. 353-365, 2021, impact factor (IF) = 0.852, IF according to 2021 Journal Citation Reports (JCR) released by Clarivate Analytics in 2022 = 0.852 (www.romjist.ro).
• C.-V. Pop, R.-E. Precup and L. I. Cădariu-Brăiloiu, Analysis of Monetary Policy Decisions of the National Bank of Romania with Text Mining Techniques, Proceedings of 2021 IEEE 15^th International Symposium on Applied Computational Intelligence and Informatics SACI 2021, Timisoara, Romania, pp. 21-26, 2021, indexed in Clarivate Analytics Web of Science (ieeexplore.ieee.org).
• E.-L. Hedrea, R.-E. Precup, R.-C. Roman, E. M. Petriu, C.-A. Bojan-Dragoş and C. Hedrea, Tensor Product-Based Model Transformation Technique Applied to Servo Systems Modeling, Proceedings of 30^th International Symposium on Industrial Electronics ISIE 2021, Kyoto, Japan, pp. 1-6, 2021, indexed in Clarivate Analytics Web of Science (ieeexplore.ieee.org).
• C.-A. Bojan-Dragoş, R.-E. Precup, S. Preitl, R.-C. Roman, E.-L. Hedrea and A.-I. Szedlak-Stînean, GWO-Based Optimal Tuning of Type-1 and Type-2 Fuzzy Controllers for Electromagnetic Actuated Clutch Systems, Proceedings of 4^th IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control CESCIT 2021, Valenciennes, France, 2021, IFAC-PapersOnLine, vol. 54, no. 4, pp. 189-194, 2021, indexed in Clarivate Analytics Web of Science (www.sciencedirect.com).
• R.-E. Precup, R.-C. Roman and A. Safaei, Data-Driven Model-Free Controllers, 1^st Ed., CRC Press, Taylor & Francis, Boca Raton, FL, USA, 289 pp., 2021, voted by the Editorial Board of CRC Press as 2021 Outstanding Title in STEM, indexed in Scopus (www.routledge.com).
• R.-E. Precup, E.-I. Voişan, R.-C. David, E.-L. Hedrea, E. M. Petriu, R.-C. Roman and A.-I. Szedlak-Stînean, Nature-inspired optimization algorithms for path planning and fuzzy tracking control of mobile robots, in: Applied Optimization and Swarm Intelligence, E. Osaba and X.-S. Yang, Eds., Springer Tracts in Nature-Inspired Computing, Springer, Singapore, pp. 129-148, 2021 (link.springer.com, link.springer.com).