Robust $H_{\infty}$ Cruise Control of High-Speed Train with Parameter Uncertainties, Time-varying Delays and Disturbance

Abstract

A novel robust <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> control methodology for highspeed train (HST) with the target of high-precision velocity tracking and operation safety is studied in this paper. The dynamic equation of HST is established based on a multi-particle cascade model connected by flexible couplers, where the delays caused by transmission process, and uncertainties of train mass, stiffness of couplers and aerodynamic drag are considered. The stochastic errors of the line data are defined as operational disturbances. The controller is designed based on Lyapunov theory and linear matrix inequalities (LMIs), under which situation the train track the reference speed trajectory, the relative displacement of couplers is stable at equilibrium state as well as satisfy the prescribed <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> performance index. Comparative experiments are carried out to demonstrate the effectiveness and robustness of the controller.