Adaptive Distributed Fault-Tolerant Control for High-Speed Trains Based on a Multi-Body Dynamics Model

This paper addresses the distributed control problem for high-speed trains subject to unknown actuator faults, input saturation, and parametric uncertainties—including structural variations among actuators, external resistance, and inter-carriage forces. A carriage-scale distributed adaptive fault-tolerant controller is designed based on a multi-agent dynamics model. The controller incorporates an adaptive law to estimate uncertain parameters and a second-order auxiliary system to mitigate the effects of input saturation on closed-loop stability. Simulation results demonstrate the controller’s effectiveness in achieving accurate dual-closed-loop tracking of both speed and position under actuator fault and input saturation conditions.