Title :
Model Free Adaptive Control for automatic car parking systems
Author :
Hang-rui Dong ; Shang-tai Jin ; Zhong-sheng Hou
Author_Institution :
Sch. of Electron. & Inf. Eng., Beijing Jiaotong Univ., Beijing, China
Abstract :
In this paper, a Model Free Adaptive Control (MFAC) scheme is proposed for automatic car parking systems. The scheme consists of a control algorithm, a parameter estimation algorithm and a parameter reset algorithm. The design of the proposed scheme only uses the input and output (I/O) data, and does not involve any model information of the controlled car. Therefore, the MFAC based automatic parking system is applicable for different kinds of car. The simulation comparisons among MFAC scheme and PID control scheme are given for different kinds of car with different parking speed. The simulation results show that the proposed MFAC scheme has smaller tracking errors in the orientation angle of the car, the x axis and y axis.
Keywords :
adaptive control; automobiles; parameter estimation; position control; road traffic control; three-term control; vehicle dynamics; MFAC scheme; PID control scheme; automatic car parking systems; control algorithm; model free adaptive control; orientation angle; parameter estimation algorithm; parameter reset algorithm; tracking errors; Adaptation models; Adaptive control; Algorithm design and analysis; Control systems; Simulation; Vehicles; Wheels; Automatic parking; Model free adaptive control; PID;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7052988
