Neural Adaptive Fault Tolerant Control for High Speed Trains Considering Actuation Notches and Antiskid Constraints

摘要

Automatic operation of high speed trains (HSTs) requires dedicated control schemes to tackle uncertain dynamics, unknown resistive forces, coupling nonlinearities, interactive in-train forces, unexpected disturbances, and faults. This paper addresses the problem of position and velocity tracking control of HSTs with multiple vehicles connected through elastic couplers. A neuro-adaptive fault tolerant control scheme is developed to compensate the input nonlinearities due to traction or braking notches, uncertain impacts from in-train forces, resistive aerodynamic drag forces, traction or braking faults, and adherence-antiskid constraints. High precision velocity and position tracking is achieved by using the proposed control scheme that combines the robust adaptive control with nonlinearly layered neural networks. Closed-loop stability is ensured with strict mathematical analysis. The effectiveness of the proposed approach is also validated through numerical simulations with considering the adherence-antiskid constraints.