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<p>This paper investigates robust cooperative tracking control problem of multiple trains with nonlinear inherent resistance and disturbance. By utilizing the output regulation framework, a distributed cooperative tracking controller is proposed for each train to track the desired trajectory with time-varying velocity and keep a safety distance from each other to avoid possible collision, while dealing with a dynamic nonlinear inherent resistance. Meanwhile, the paper further considers the disturbance and model uncertainty such that the system model is more consistent with the complex geographical environment and weather condition. Numerical simulation illustrates that the proposed composite control law can effectively deal with the influence of nonlinear inherent resistance, external disturbance and model uncertainty.</p>

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Robust cooperative tracking control of multiple high-speed trains with nonlinear inherent resistance and disturbance

  • 期刊论文

  • 发表日期：

    2025年2月4日

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  • Wenfeng Hu,
  • Zihang Luo,
  • Wenpu Zhao,
  • Shan Ma,
  • Tao Peng

摘要

This paper investigates robust cooperative tracking control problem of multiple trains with nonlinear inherent resistance and disturbance. By utilizing the output regulation framework, a distributed cooperative tracking controller is proposed for each train to track the desired trajectory with time-varying velocity and keep a safety distance from each other to avoid possible collision, while dealing with a dynamic nonlinear inherent resistance. Meanwhile, the paper further considers the disturbance and model uncertainty such that the system model is more consistent with the complex geographical environment and weather condition. Numerical simulation illustrates that the proposed composite control law can effectively deal with the influence of nonlinear inherent resistance, external disturbance and model uncertainty.