Department of Electrical Engineering, Miyaneh Branch, Islamic Azad University, Miyaneh, Iran.
School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran.
ISA Trans. 2014 Mar;53(2):533-41. doi: 10.1016/j.isatra.2013.12.007. Epub 2013 Dec 27.
The cruise control problem of high speed trains in the presence of unknown parameters and external disturbances is considered. In particular a Lyapunov-based robust adaptive controller is presented to achieve asymptotic tracking and disturbance rejection. The system under consideration is nonlinear, MIMO and non-minimum phase. To deal with the limitations arising from the unstable zero-dynamics we do an output redefinition such that the zero-dynamics with respect to new outputs becomes stable. Rigorous stability analyses are presented which establish the boundedness of all the internal states and simultaneously asymptotic stability of the tracking error dynamics. The results are presented for two common configurations of high speed trains, i.e. the DD and PPD designs, based on the multi-body model and are verified by several numerical simulations.
考虑存在未知参数和外部干扰时高速列车的巡航控制问题。特别地，提出了一种基于李雅普诺夫的鲁棒自适应控制器，以实现渐近跟踪和干扰抑制。所考虑的系统是非线性的、多输入多输出的和非最小相位的。为了处理由于不稳定零动态引起的限制，我们进行了输出重新定义，使得新输出的零动态变得稳定。提出了严格的稳定性分析，该分析确定了所有内部状态的有界性，并同时确定了跟踪误差动态的渐近稳定性。结果基于多体模型，针对高速列车的两种常见配置，即 DD 和 PPD 设计，给出并通过几个数值模拟进行了验证。
