Abstract
This article investigates the cooperative fault-tolerant control problem for multiple high-speed trains (MHSTs) with actuator faults and communication delays. Based on the actor-critic neural network, a distributed sliding mode fault-tolerant controller is designed for MHSTs to solve the problem of actuator faults. To eliminate the negative effects of unknown disturbances and time delay on train control system, a distributed radial basis function neural network (RBFNN) with adaptive compensation term of the error is designed to approximate the nonlinear disturbances and predict the time delay, respectively. By calculating the tracking error online, an actor-critic structure with RBFNN is used to estimate the switching gain of the distributed controller, which reduces the chattering phenomenon caused by sliding mode control. The global stability and ultimate bounded of all signals of the closed-loop system are proposed with strict mathematic proof. Simulations show that the proposed method has superior effectiveness and robustness compared with other fault-tolerant control methods, which ensures the safe operation of MHSTs under moving block conditions.
Highlights
In recent years, high-speed trains (HSTs) are increasingly popular because of the characteristics of high speed, high efficiency, and low energy consumption [1]
We have proposed a distributed sliding mode fault-tolerant control (SMFTC) method based on the actor-critic neural network for multiple high-speed trains (MHSTs) with actuator faults and communication delays
An adaptive compensation control law is designed to eliminate the influence of unknown actuator faults on the train control system. e distributed radial basis function neural network (RBFNN) with the compensation mechanism of approximate error is designed to deal with the external disturbance and time delay of the system, respectively
Summary
High-speed trains (HSTs) are increasingly popular because of the characteristics of high speed, high efficiency, and low energy consumption [1]. In [3], an adaptive backstepping fault-tolerant control scheme was designed for HSTs with unknown parameters, actuator faults, and disturbances, and a piecewise time-varying indicator function was used to describe the train motion model. In [5], an adaptive sliding mode fault-tolerant control (SMFTC) scheme was designed to solve the actuator uncertainties and faults of HSTs, simultaneously, and a dynamic model with input distribution matrix uncertainty is established to describe the properties of the train system. With the increasing pressure of urban traffic, the number of HSTs is gradually increasing, and the methods and ways for singletrain operation control have not been enough to meet the efficiency and safety requirements so that there are frequent incidents of train delays and passenger dissatisfaction [6]. To improve the operation efficiency and ability of the rail transit system, the cooperative control among multiple high-speed
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