Abstract
This paper presents an Triple-Level Adaptive Multiple Models Fuzzy Logic Controller (TAM-FLC) with model identification used for speed control in an unmanned vertical parking process. Adaptive Multiple Models fuzzy control ensures good performance with fast convergence and minimal chattering despite of variation in external disturbances. In contrast to conventional fuzzy logic controller where intensive controller tuning is required to achieve optimal control performance, the addition of Triple-Level adaptation in the proposed TAM-FLC increases the controller robustness to uncertainties in system parameters, and also the use of multiple models increase the accuracy of controller significantly. The proposed TAM-FLC is proven to stabilize and experimental results is given to prove the improvement compared with previous designs.
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