Sliding-mode Adaptive Control for Multiple High-speed Trains With State Constraints and Input Saturation

In this paper, for the safe and efficient cooperation of high-speed trains, a sliding-mode adaptive control strategy is investigated for cooperative control of trains subject to state constraints and input saturation. Firstly, in order to guarantee the safety of inter-train distance and over-speed protection, the position and speed limitations which could be seen as state constraints are integrated as the hybrid prescribed performance. Then, a sliding-mode surface is selected and a sliding-mode adaptive control protocol is designed to meet the input saturation and hybrid prescribed performance for the multi-train systems. Afterwards, a Barrier Lyapunov Function is designed to prove the stability of multi-train systems subject to state constraints and input saturation. Using the sliding-mode adaptive control and hybrid prescribed performance control methods, the safe and efficient operation of trains can be realized. Finally, the effectiveness of proposed method is given by the simulation results.