Distributed Adaptive Fault-Tolerant Control for High-Speed Trains Using Multi-Agent System Model

In this paper, the speed and position tracking problem of high-speed trains is investigated in the presence of actuator faults. A multi-agent system model is constructed, where each vehicle of the train is regarded as a controllable agent. A distributed adaptive controller is then proposed for healthy train system based on terminal sliding mode control. Further, a distributed adaptive fault-tolerant controller (DAFC) is designed for high-speed trains considering actuator faults, and an auxiliary system is introduced to cope with the influence of input saturation. To the best of our knowledge, it is the first time that the distributed fault-tolerant control is considered in a multi-agent system model, which can better utilize the residual power of each vehicle when actuator faults occur. The stability of the closed-loop control system is analyzed through Lyapunov theory, and it is proven that the speed and position tracking errors of all vehicles are cooperative convergence. The simulation results are presented to demonstrate the effectiveness of the proposed DAFC. Compared with the existing method, the proposed DAFC reduces the average speed and position control errors by 54.3% and 55%, respectively.