Robust consensus braking algorithm for distributed EMUs with uncertainties

作     者：He, Jing Yang, Buchong Zhang, Changfan Liu, JianHua Mao, Songan Shi, Laicheng Cheng, Xiang 

作者机构：Hunan Univ Technol Sch Elect & Informat Engn Zhuzhou 412007 Hunan Peoples R China Purdue Univ Sch Elect & Comp Engn W Lafayette IN 47907 USA CRRC Zhuzhou Elect Co Ltd Zhuzhou 412007 Hunan Peoples R China 

出 版 物：《IET CONTROL THEORY AND APPLICATIONS》 (IET控制论与应用)

年 卷 期：2019年第13卷第17期

页      面：2766-2774页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

基　　金：Natural Science Foundation of China [61773159, 61473117] Hunan Provincial Natural Science Foundation of China [2018JJ2093, 2017JJ4031] Key Laboratory for Electric Drive Control and Intelligent Equipment of Hunan Province [2016TP1018] 

主　　题：observers braking control system synthesis robust control variable structure systems uncertain systems multi-agent systems road traffic control road vehicles robust consensus braking algorithm distributed EMUs velocity tracking control electric multiple units distributed sliding mode observers multiagent model nonlinear coupling distributed observers coupling force equivalent control principle robust consensus algorithm consensus velocity tracking braking process sliding mode variable structure artificial potential field function 

摘      要：In this study, the velocity tracking control of electric multiple units (EMUs) with non-linearity and uncertainty during braking is investigated. A consensus braking algorithm with distributed sliding mode observers is proposed. Firstly, a multi-agent model with non-linear coupling and uncertain external disturbances is established. Secondly, distributed observers are designed, in which a real-time estimation equation for coupling force and disturbances is established based on the equivalent control principle of sliding mode variable structure. Finally, a robust consensus algorithm is proposed to achieve a consensus velocity tracking of each carriage on the target braking curve. The distances between the adjacent carriages are stabilised at stationary distances in a safe range by an artificial potential field function. Experiments show that the algorithm has high accuracy and anti-interference ability in the braking process.