Adaptive coordinated control of multiple high-speed trains with input saturation

Abstract

This paper investigates the adaptive coordinated control of multiple high-speed trains with input saturation and uncertain parameters. The motion of an ordered set of high-speed trains is modeled by a multi-agent system, in which each train adjusts its speed dynamically by communicating with its neighboring trains. For the uncertainties in systems and the possible actuator saturation, based on the LaSalles invariance principle, a new adaptive coordinated control algorithm for each train is designed to track the desired speed, and meanwhile under the control algorithm, the headway distances of each train with its neighboring trains are stabilized at stationary distances in a safety range, which ensures safe and efficient operation of high-speed trains. Numerical examples are given to illustrate the effectiveness of the proposed methods.