Virtual coupling of permanent magnetic maglev trains: An improved cooperative tracking and collision avoidance control protocol

Abstract

AbstractIn the cooperative tracking task of multiple permanent magnetic maglev trains, system uncertainty, external disturbances, and collision avoidance control are issues that must be considered. Therefore, the cooperative tracking and collision avoidance control for train virtual coupling with external disturbances are studied. First, according to the idea of multi‐agent consensus control and active disturbance rejection control, a cooperative tracking controller based on a novel nonlinear extended state observer (NESO) is designed. Second, a collision avoidance control method based on an improved artificial potential field (APF) is designed. Finally, an improved cooperative tracking and collision avoidance control protocol is proposed, and the stability proof is given. Compared with the conventional protocol, the proposed protocol can achieve smooth coupling and high‐precision cruise while ensuring safe collision avoidance. It has the advantages of higher tracking accuracy and stronger anti‐interference performance.