ALTER TABLE foo AUTO_INCREMENT=1
If you've deleted the most recent entries, that should set it to use the next lowest available one. As in, as long as there's no 19 already, deleting 16-18 will reset the autoincrement to use 16.
EDIT: I missed the bit about phpmyadmin. You can set it there, too. Go to the table screen, and click the operations tab. There's an AUTOINCREMENT
field there that you can set to whatever you need manually.