Decentralized tracking control for high-speed train: A fully actuated system approach

To implement a smoother automatic train operation (ATO) for high-speed train (HST), we investigates the classical tracking problem for the cascaded mass-point longitudinal model of HST with train schedule, which is subject to the constraints of speed and power. The most challenge is the existence of nonlinear coupler forces between front and rear cars. In this paper, we introduce the fully actuated system approaches to remove the coupler forces from the train dynamic model, and then the second-order full-actuation system is established for each car. Therefore the decentralized controller of the individual car can be easy to been designed. In addition, the sufficient conditions for the existence of the decentralized controller are given by a set of linear matrix inequalities (LMIs). Some simulation results show the effectiveness of the fully actuated system approaches, and then the control scheme ensures the consensus of the relative displacement and velocity of coupler.