Event-Triggered Mechanism-Based Adaptive Cooperative Tracking Control for MHSTs System with Uncertain Dynamics

This paper focuses on the adaptive event-triggered cooperative tracking control problem for multiple high-speed trains (MHSTs) system. A new adaptive cooperative tracking control protocol is presented based on the multi-agent system (MAS) concept and the event-triggered control theory. Firstly, to build a refined train dynamical model, the uncertain nonlinear resistances are approximated by a fuzzy logic system. Moreover, a distributed sliding-mode estimator is used to estimate the states of the leader train to obtain the system errors to perform the subsequent backstepping control design. In the event-triggered mechanism, the controller updates are triggered only when the measurement error exceeds a specified threshold, which can reduce the waste of computation resources and the overuse of actuators. It is demonstrated that all signals in the MHSTs system are ultimately bounded. Finally, a simulation example is provided to validate the effectiveness of the proposed event-triggered control methods.