Adaptive Position Tracking Control of High-speed Trains with Piecewise Dynamics

This paper addresses the adaptive position tracking control problem for high-speed trains with time-varying resistances and mass in the motion dynamics. To handel these time-varying parameters with piecewise constant characteristics, a piecewise constant model with unknown parameters is introduced for different train operation conditions. An integrated adaptive controller structure is constructed to have the capacity to achieve plant-model matching with known parameters and complete system parametrization with unknown parameters, which is desirable for adaptive tracking control. For the train position tracking requirement, the reference model system is specifically chosen. Stable adaptive laws are designed to update the adaptive controller parameters in the presence of the unknown piecewise constant system parameters. Closed-loop stability and asymptotic state tracking are proved. Simulation results on a high-speed train model are presented to illustrate the desired adaptive position tracking control performance.