Model Free Adaptive Control for automatic car parking systems

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.