Abstract
In this paper, the adaptive cruise control method for the virtually coupled train set (VCTS) in rail transit is proposed. First of all, a leader-following VCTS dynamics model is constructed by analyzing the dynamic evolution of VCTS in a real-world environment, taking into account uncertain parameters, unknown disturbances and controller input saturation. Next, to cope with the position and speed constraints, the position artificial potential field function and the speed barrier function are embedded into the designed sliding manifold. And a novel adaptive cruise control protocol is designed, which can simultaneously deal with uncertain resistance parameters and unknown disturbances while tracking the desired cruise speed and maintaining the desired distance. Based on Lyapunov stability theory, the proposed control protocol guarantees the ultimate boundedness of all subsystems. Finally, the simulation results verify the effectiveness of the theoretical analysis.
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