Distributed asynchronous event-triggered cooperative control for virtually coupled train set subject to gradient terrain and input saturation

The cooperative tracking control problem is investigated for the virtually coupled train set subject to gradient terrain and actuator saturation. This paper proposes an adaptive event-triggered cooperative tracking control scheme, where a distributed asynchronous event-triggered sampling is designed based on the relative states between adjacent trains. In addition, the unknown parameters of high-speed train system are estimated by the adaptive method. By the proposed control scheme, the velocity and position tracking errors between any adjacent trains are ultimately bounded while realizing on-demand interaction between trains. It is proved that the Zeno behavior can be excluded by quantitatively expressing the strictly positive minimum lower bound of the inter-event interval. Finally, a simulation of the Beijing-Shanghai high-speed railway is used to verify the feasibility and effectiveness of the proposed control scheme.