Finite Time Speed and Position Control for Dynamics of HST with Time-Varying Delays

Abstract

In this paper, a finite time robust controller is proposed for tracking the speed and position of high speed trains. Considering the aerodynamic flag, mechanical rolling resistance, additive resistance and wind gust, the dynamics of high speed train with time-varying delay is established in longitude. Aerodynamic flag and mechanical rolling resistance are seen as the coefficient of the state variables, wind gust and additive resistance are seen as the external disturbance, and time-varying delay in speed are considered as the train is often running in bad weather or severe working conditions. Then a delay-dependent finite time robust controller is designed. This controller not only guarantees the closed-loop error dynamics error is finite time boundness, but also is robust to the external disturbance consisting of wind gust and additive resistance in finite time. Sufficient conditions of the controller design are given, and the gain matrices of the controller are formulated as linear matrix inequality. A 5-car simulation example is given to show the effectiveness of the proposed method.