Distributed Robust Event-Triggered Control Strategy for Multiple High-Speed Trains With Communication Delays and Input Constraints

In order to improve the operation efficiency of high-speed trains and save communication resources of the railway communication network, this article proposes an on-demand event-triggered strategy for coordinated control of multiple high-speed trains (MHSTs) subject to communication delays and input constraints. The MHSTs are modeled as a leader-following multiagent system and each train exchanges their states with its neighboring trains through a communication network. Then, an event-triggered scheme is designed to determine when the states of a train are transmitted to its local controller and neighboring trains. With this strategy fused into the dynamic model of MHSTs, a robust coordinated control scheme consisting of an event-triggered processor and a control protocol is presented. By utilizing Lyapunov-Krasovskii theory, a sufficient condition is achieved to guarantee MHST system stability and the safety requirements under communication delays and input constraints. A co-design algorithm for obtaining the controller gain and the event-triggered weighting matrix is proposed. Finally, numerical examples are carried out to illustrate the effectiveness of the proposed method.