A Model Predictive Control Approach for Virtual Coupling in Railways

Abstract

This paper presents a novel approach in train control systems based on the concept called virtual coupling or train convoys. This approach follows the recent developments in the field of safe platooning of autonomous vehicles. We use a decentralized model predictive control (MPC) framework for each train participating in a convoy formation. Control designs for the leading and following trains are presented. An optimal control formulation for both controllers is used and its design relies on a numeric solution of a finite horizon optimal control problem. This paper compares the proposed method with alternative control strategies including the well-studied moving block train control concept. A study of a metro line has been chosen as a first analysis for this control approach. The simulation results for this kind of railway lines demonstrate better performance and the benefits of this new concept versus the moving block system. We show that the virtual coupling concept substantially reduces headway and distance between trains while guaranteeing safe separation between two consecutive trains at any instant.