Finite-time event-triggered consensus control for high-speed train with gradient resistance |
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| Institution: | 1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, 100044, China;2. The Center of National Railway Intelligent Transportation System Engineering and Technology, China Academy of Railway Sciences, Beijing, 100081, China;1. Institute for Problems of Mechanical Engineering of the Russian Academy of Sciences, 61 Bolshoy Prospekt V.O., St. Petersburg 199178, Russia;2. Gubkin University, 65 Leninsky Prospekt, Moscow 119991, Russia;1. College of Mathematics and System Sciences, Xinjiang University, Urumqi 830046, PR China;2. School Mathematics and Statistics, Yili Normal University, YiNing 835000, PR China;1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China;3. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing Jiaotong University), Ministry of Education, China;1. Vehicle Engineering Institute, Chongqing University of Technology, Chongqing 40054, China;2. Key Laboratory of Advanced Manufacturing Technology for Automobile Parts of Ministry of Education, Chongqing University of Technology, Chongqing 400054, China;3. College of Automation, Chongqing University, Chongqing 40004, China;4. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, China;1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China;2. National Research Center of Railway Safety Assessment, Beijing Jiaotong University, Beijing 100044, China |
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| Abstract: | Regarding the influence of the gradient resistance on multiple electric units, this paper investigates the finite-time event-triggered consensus control for a single high speed train. By considering the influence of the internal force of the train and the non-linear resistance, a multi-particle model of electric multiple units is established, in which the electric units are connected by elastic couplers. Based on the principle of event-triggered control, a consensus control strategy for electric multiple units is designed, which has disturbance rejection property and does not need continuous communication between electric units, hence effectively saving plenty of computing and communication resources. By using finite-time Lyapunov stability theorems to improve the event-triggered controller, it is found that finite-time consensus presents a fast convergence rate and good anti-interference performance. The stability of the control system is verified by Lyapunov function, where all electric units of high-speed train achieve finite-time consensus and exclude Zeno behavior. Finally, the effectiveness of the theoretical results is verified by two numerical simulations. |
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