Distributed Cooperative Control of a High-speed Train

Abstract

The distributed cooperative control problem for high-speed train is investigated in this paper. Cars in a high-speed train are modeled as a group of ordered particles connected by flexible couplers. Each car is viewed as an intelligent agent that communicates with its neighbors, making the train a multi-agent system. The information transmission topology among these agents is represented by a connected undirected graph. Distributed cooperative control laws are constructed that achieve displacement and speed consensus among cars at a desired profile, while guaranteeing the coupler displacements to be within a safety range and converge to the nominal value. Simulation results are presented to illustrate the theoretical conclusions we have reached.