Realization of parking task based on affine system modeling

This paper presents a motion control system of an unmanned vehicle, where parallel parking task is realizedbased on a self-organizing affine system modeling and a quadratic programming based robust controller. Because of non-linearity of the vehicle system and complexity of the task to realize, control objective is not always realized with a single algorithm or control mode. This paper presents a hybrid model for parallel parking task in which seven modes for describing sub-tasks constitute an entire model.