Longsheng Wang, Hongze Xu and Hengyu Luo
Automatic train operation (ATO), contraction theory, nonlinear adaptive control, train control system
This paper addresses the position and velocity tracking control problem for automatic train operation. A novel adaptive control approach based on contraction theory, whose the features are avoiding the selection of Lyapunov-like energy function and providing a general platform to analyse the exponential stability of the nonlinear system, is proposed for the train longitudinal dynamics with time-varying parametric uncertainties. Specifically, the nominal contraction controller is first developed through backstepping-like technique, and then an adaptive law along with parameter updates is derived to achieve convergence of actual trajectories to desired one. Finally, the simulation experiment is conducted to verify the effectiveness of the proposed controller.
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