Finite-Time Distributed Adaptive Coordinated Control for Multiple Traction Units of High-Speed Trains

Great attention is paid on the smooth operation for long journey high-speed trains. And it is significant to recover to a stable state with disturbances such that the ride comfort of high-speed trains is ensured. This paper investigates a coordinated control approach of a high-speed train to reduce the interaction force between successive traction units. Firstly, the running resistance is assumed to be nonlinear and multiple traction units are connected by elastic couplings, then a multi-particle model is created. Next, a finite-time coordinated control protocol is designed based on the principle of multi-agent control and the finite-time Lyapunov stability theorem. The protocol is proved to be robust to disturbances and the speed consensus for all traction units is achieved. Meanwhile, the interaction forces between successive traction units converge to zero within a finite time. Finally, some numerical results are conducted to validate the proposed approach.