Application of adaptive global terminal sliding mode control based on limited error in high-speed train

Abstract

High-precision tracking control is very important in high-speed train (HST) operation. This study proposes an adaptive global terminal sliding mode control scheme based on limited error (AEG-SMC) for trajectory tracking of HST. AEG-SMC is firstly proposed for the nonlinear dynamic system to improve the accuracy of tracking error and solve the problem of parameter uncertainty in the model. Then, AEG-SMC uses an adaptive method to approximate the uncertain parameters in the model to obtain real-time parameter estimation, and an error index function is given to realise fast and high-precision tracking of the system by global terminal sliding mode control (GSMC). AEG-SMC is able to design the required error indicators before conducting control, thereby ensuring the high-quality response and stability of the system. Finally, the simulation results show that the speed tracking error and control input of HST with AEG-SMC are also the smallest among the mentioned methods.