Asymptotical Cooperative Cruise Fault Tolerant Control for Multiple High-speed Trains with State Constraints

TL;DR

This paper develops a distributed control method for multiple high-speed trains that ensures safe, coordinated cruise operation despite actuator faults, by estimating states and faults without depending on control inputs.

Contribution

It introduces a novel distributed observer for fault estimation and a fault-tolerant control scheme that maintains train coordination under fault conditions.

Findings

Achieves asymptotical estimation of states and faults.

Ensures position and velocity differences stay within specified ranges.

Demonstrates robustness of the control scheme under actuator faults.

Abstract

This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the structural information of faults is designed to achieve asymptotical estimation of states and faults of each carriage. The observer does not rely on choice of control input, and thus it is separated from controller design. Based on the estimated values of states and faults, a distributed fault tolerance controller is designed to realize asymptotical cooperative cruise control of trains under the dual constraints of ensuring both position difference and velocity difference of adjacent trains in specified ranges throughout the whole process.