Event-Triggering Communication Based Distributed Coordinated Control of Multiple High-Speed Trains

This paper deals with the coordinated control of the multiple high-speed train system taking into account the sampled characteristic of the communication information. Considering the inertial lag of the servo motor/braking unit in practical scenarios, a third-order nonlinear model is adopted to capture the dynamics of a train, based on which the coordinated control problem is formulated. By virtue of the back-stepping linearization technique, the sampled-data communication based train coordination is transformed to the stabilization of a linear multiple-input system subject to periodic time-varying input delay. An event-triggering communication framework is constructed to lower the dependence on the communication resource. Furthermore, distributed low-gain feedback control protocols are established that, besides achieving coordination of the train operation, ensure the trains track the predefined train speed profile while avoiding unnecessary information transmission. Numerical experiments are carried out to verify the theoretical results.