Distributed Tracking Control of High-speed Train Systems

This paper investigates a tracking control problem of multiple high-speed trains systems under velocity and input constraints, and it also considers the case when couplers between adjacent carriages are flexible. We propose a distributed control protocol to realize the cooperative control of trains with multiple carriages connected by flexible couplers. The analysis approach is based on model transformations, appropriate parameter selection and the convex analysis. Finally, the simulation results further vividly illustrate the effectiveness of the proposed control protocol.