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《Acta Automatica Sinica》 2015-04
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Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems

HOU Zhong-Sheng;DONG Hang-Rui;JIN Shang-Tai;Advanced Control Systems Laboratory,School of Electronic and Information Engineering,Beijing Jiaotong University;  
In this paper, a model-free adaptive control(MFAC) scheme is proposed for automatic car parking systems.The design of the proposed scheme only depends on the steering angle and the orientation angle of the car, and it does not involve any model information of the car. Therefore, the MFAC based automatic parking system is applicable to different kinds of cars. In order to further reduce the desired trajectory coordinate tracking error, a modified MFAC scheme with coordinates compensation is also proposed, which consists of a control algorithm, a parameter estimation algorithm, a parameter reset algorithm, and a coordinates compensation algorithm. A simulation comparison among MFAC scheme with coordinates compensation, prototype MFAC scheme, and PID control algorithm is given for different kinds of cars with different parking speeds. It is shown that both the prototype MFAC scheme and the MFAC scheme with coordinates compensation can better finish the automatic parking process, and the MFAC scheme with coordinates compensation has smaller tracking errors and more rapid responses to the orientation angle of the car and the trajectory coordinates than the prototype MFAC and PID schemes.
【Fund】: 国家自然科学基金(61120106009 61433002);; 中央高校基本科研业务费(2014JBM005)资助~~
【CateGory Index】: U463.6;TP273.2
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