An event-triggered robust cruise control strategy for multiple high-speed trains

Abstract

This paper proposes an event-triggered transmission strategy for cruise control of multiple high-speed trains (MHSTs). The MHSTs are modeled as a multi-agent system with a certain fixed topology. An event-triggered scheme is designed to determine when the states of a train are broadcast to neighboring trains and a local controller updates its control input. With this strategy fused into the dynamic model of the multi-agent system, an event-triggered control protocol is presented. The consensus of the multi-agent system is analyzed by studying the asymptotically stability of a system with time-varying delay caused by the event-trigger scheme. By utilizing Lyapunov-Krasovskii theory, a sufficient condition is achieved to guarantee the system asymptotically stability. Then, a co-design algorithm for obtaining both the controller's gain and the event-trigger processor's weighting matrix is proposed. Finally, the effectiveness of the method is illustrated by simulation results.