Speed and position tracking control for high-speed train by using adaptive dynamic surface method

In view of the tracking control on given target speed and position of high-speed train(HST), the operation model of HST was established considering the traction and braking torque generation dynamics. Based on the model, an adaptive dynamic surface control method was proposed to ensure the high-precision tracking on desired speed and position of HST as well as eliminate the explosion of complexity. With the method, adaptive dynamic surface control law was designed, in which the extended state observer(ESO) was introduced to estimate the total resistance of the system resulted from the unavailable running resistance, the unknown viscous friction coefficients and the unmeasured states. The estimation error caused by the ESO was compensated by the robust term of the virtual control signals, and the unknown parameters were obtained online via adaptive law. A Lyapunov-based stability analysis was given, which shows the stability of the closed-loop system, with the position tracking error being arbitrarily small and the speed tracking error converging to zero in steady state. Simulation results demonstrate the effectiveness of the proposed method. © 2019, Harbin University of Science and Technology Publication. All right reserved.