Distributed constrained control for multi-train systems with multiple cars

作     者：Sun, Xiao Zeng, Mengxiang Lin, Peng 

作者机构：Cent South Univ Sch Automat Changsha 410083 Peoples R China China Acad Railway Sci Corp Ltd Ctr Natl Railway Intelligent Transportat Syst Engn Beijing Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL》 (国际强度与非线性控制杂志)

年 卷 期：2024年第34卷第4期

页      面：2315-2332页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：Center of National Railway Intelligent Transportation System Engineering and Technology, China Academy of Railway Sciences Corporation Limited [RITS2021KF01] Foundation of China Academy of Railway Sciences Corporation Limited [2021YJ087] 

主　　题：control input constraints flexible couplers multi-train systems velocity constraints 

摘      要：In practical multi-train systems, there are four different kinds of necessary nonlinearities cause by the interactive forces between adjacent cars, the nonlinear resistances, the input constraints, and the velocity constraints. However, most of the existing works on distributed control for multi-train systems only focused one or two kinds of these nonlinearities. To the best of our knowledge, there are only a few works considering three kinds of these nonlinearities. In this paper, the effects of control input and velocity constraints, interactive forces between adjacent cars and the train running resistance on the system are studied, and a distributed cooperative control algorithm based on the state information of adjacent cars is proposed. The analysis is given based on model transformations, appropriate parameter selection and convex analysis. It is proved that all trains finally run in a given formation even when the inputs and velocities of all trains are constrained to lie in some given sets. Numerical simulation examples are presented to demonstrate the theoretical conclusions.