Robust Constrained Cooperative Control for Multiple Trains

Abstract

This paper investigates robust constrained cooperative control for multiple trains, taking into account disturbances, velocity and control input constraints, and nonlinear operation resistances. A robust constrained cooperative control algorithm is employed, utilizing position information from neighboring trains to ensure each train operates within the desired formation. The effects of external disturbances are examined through multiple transformations and the convexity of stochastic matrices, resulting in an error bound for the final relative positions. This error boundary is correlated with the parameters of the system matrix, initial state conditions, and disturbance amplitudes. The theoretical findings are substantiated with a numerical example.