Adaptive Robust Control Designed for Automatic Train Operation with Guaranteed Tracking Performance

Abstract

This paper proposes an adaptive robust control scheme for Automatic Train Operation (ATO) with guaranteed transient performance and steady-state tracking accuracy. As speed increases, the inherent time-varying parametric uncertainties, exist in the longitudinal dynamics of train operating, seriously affect the tracking performance of ATO. With prior bounds of time-varying parametric uncertainties, a systematic method is developed by combining adaptive backstepping control with deterministic robust control. The resulting adaptive robust controller holds the advantages of the both methods, that is to say it guarantees prescribed transient performance with predefined tracking accuracy of deterministic robust control for the time-varying parametric uncertainties, while it preserves the asymptotic stability of adaptive control in presence of just parametric uncertainties. Furthermore, the proposed controller is more flexibility and convenience to improve the tracking performance than either adaptive control or robust control alone. Rigorous theoretical analysis and numerical simulations are all verified the effectiveness of it.

Keywords

• Adaptive robust control
• Transient performance
• Backstepping
• Automatic train operation.