Distributed Event-triggered Control of Multiple High-speed Trains

In this paper, an event-triggered control method for coordinated cruise operation of multiple high-speed trains (HSTs) is investigated. Firstly, the dynamic model of a group of ordered HSTs on the high-speed railway line is established based on the multi-agent system, and every train can communicate with its adjacent trains and adjust the speed according to the received information of neighboring trains. Afterwards, by applying the principle of event trigger and potential fields, an event-triggered control protocol for every HST is designed based on the information of its adjacent trains. Under this strategy, every train can track the desired speed of the leading train, and the controlling force of each train is merely updated when the event is triggered, the headway distance of two adjacent trains is stable within an appropriate scope. Moreover, the Lyapunov function is used to verify the system's stability and the convergence of the control error under the event-triggered control strategy. Numerical simulations are provided to verify the validity of the proposed method.