This paper proposes cooperative adaptive control schemes for a train platoon to improve efficient utility and guarantee string stability. The control schemes are developed based on a bidirectional strategy, i.e., the information of proximal(preceding and following) trains is used in the controller design. Based on available proximal information(prox-info) of location, speed, and acceleration, a direct adaptive control is designed to maintain the tracking interval at the minimum safe distance. Based on available prox-info of location, an observer-based adaptive control is designed to achieve the same target, which alleviates the requirements of equipped sensors to measure prox-info of speed and acceleration. The developed schemes are capable of on-line estimating of the unknown system parameters and stabilizing the closed-loop system, the string stability of train platoon is guaranteed on the basis of Lyapunov stability theorem. Numerical simulation results are presented to verify the effectiveness of the proposed control laws.
This paper presents neural adaptive control methods for a class of chaotic nonlinear systems in the presence of constrained input and unknown dynamics.To attenuate the influence of constrained input caused by actuator saturation,an effective auxiliary system is constructed to prevent the stability of closed loop system from being destroyed.Radial basis function neural networks(RBF-NNs)are used in the online learning of the unknown dynamics,which do not require an off-line training phase.Both state and output feedback control laws are developed.In the output feedback case,high-order sliding mode(HOSM)observer is utilized to estimate the unmeasurable system states.Simulation results are presented to verify the effectiveness of proposed schemes.
