Iterative learning control for high‐speed trains with velocity and displacement constraints

Abstract

In this article, a novel iterative learning control (ILC) scheme is presented for the operation control of high-speed train (HST), where the velocity and displacement of HST are strictly limited to ensure safety and comfort. The model of HST constructed in the article is practical in the sense that both parametric and nonparametric uncertainties of system are addressed simultaneously. Backstepping design with the newly proposed barrier Lyapunov function is incorporated in analysis to ensure the uniform convergence of the state tracking error and that the constraint requirements on velocity and displacement would not be violated during the whole operation process. In the end, a simulation study is presented to demonstrate the efficacy of the proposed ILC law.

Iterative Learning Tracking Control for a Vehicle-Manipulator System With Input Constraint

“…For example, In [12,13], a class of the rigid-flexible manipulator systems with input constraints are researched, ILC integrated with boundary control, disturbance observer and adaptive technology is applied to handle with the vibration control and input constraint problems. In [14], the operation control of high-speed trains with velocity and displacement constraints is considered and a novel ILC scheme based backstepping design is constructed. In [15], an ILC scheme including an observer and adaption laws is put forward for a flexible string system aiming at dealing with the tracking control issue.…”

Distributed constrained control for multi‐train systems with multiple cars

“…In the single-particle model, the train composed of multiple cars was regarded as one particle. [9][10][11][12][13][14][15][16][17][18][19][20][21] For example, in Reference 11, a novel adaptive predictive control method on the basis of the T-S model is proposed. References 6-8 studied the distributed constrained multi-agent collaborative control problem.…”

Iterative learning control based on dynamic time warping for a class of discrete‐time nonlinear systems with varying trial lengths and terminus constraint

“…It is used for updating the control input iteratively so as to drive the system output to track the reference trajectory within a limited time interval. 1,2 ILC has been widely used in different applications such as robotic manipulation, 3 gait simulation, 4,5 and robot-assisted rehabilitation 6,7 in the field of robotics; tracking control 8 and operation control with speed delays and input saturations 9,10 in the field of high speed trains. Moreover, ILC has also been applied in the fields of microfluidic speed control, 11 permanent magnet synchronous motor drive 12 and air-conditioning system, 13 and so on.…”