Robust consensus braking algorithm for distributed EMUs with uncertainties. Issue 17 (1st November 2019)

• Record Type: Journal Article
• Authors: He, Jing; Yang, Buchong; Zhang, Changfan; Liu, JianHua; Mao, Songan; Shi, Laicheng; Cheng, Xiang
• Is Part Of: IET control theory & applications. Volume 13:Issue 17(2019)
• Page Start: 2766
• Page End: 2774
• Publication Date: 2019-11-01
• Subjects: observers -- braking -- control system synthesis -- robust control -- variable structure systems -- uncertain systems -- multi‐agent systems -- road traffic control -- road vehicles; robust consensus braking algorithm -- distributed EMUs -- velocity tracking control -- electric multiple units -- distributed sliding mode observers -- multiagent model -- nonlinear coupling -- distributed observers -- coupling force -- equivalent control principle -- robust consensus algorithm -- consensus velocity tracking -- braking process -- sliding mode variable structure -- artificial potential field function; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2018.6107
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : In this study, the velocity tracking control of electric multiple units (EMUs) with non‐linearity and uncertainty during braking is investigated. A consensus braking algorithm with distributed sliding mode observers is proposed. Firstly, a multi‐agent model with non‐linear coupling and uncertain external disturbances is established. Secondly, distributed observers are designed, in which a real‐time estimation equation for coupling force and disturbances is established based on the equivalent control principle of sliding mode variable structure. Finally, a robust consensus algorithm is proposed to achieve a consensus velocity tracking of each carriage on the target braking curve. The distances between the adjacent carriages are stabilised at stationary distances in a safe range by an artificial potential field function. Experiments show that the algorithm has high accuracy and anti‐interference ability in the braking process.