Article ; Online: Virtual coupling of permanent magnetic maglev trains
IET Intelligent Transport Systems, Vol 17, Iss 12, Pp 2505-
An improved cooperative tracking and collision avoidance control protocol
2023 Volume 2518
Abstract: Abstract In the cooperative tracking task of multiple permanent magnetic maglev trains, system uncertainty, external disturbances, and collision avoidance control are issues that must be considered. Therefore, the cooperative tracking and collision ... ...
Abstract | Abstract In the cooperative tracking task of multiple permanent magnetic maglev trains, system uncertainty, external disturbances, and collision avoidance control are issues that must be considered. Therefore, the cooperative tracking and collision avoidance control for train virtual coupling with external disturbances are studied. First, according to the idea of multi‐agent consensus control and active disturbance rejection control, a cooperative tracking controller based on a novel nonlinear extended state observer (NESO) is designed. Second, a collision avoidance control method based on an improved artificial potential field (APF) is designed. Finally, an improved cooperative tracking and collision avoidance control protocol is proposed, and the stability proof is given. Compared with the conventional protocol, the proposed protocol can achieve smooth coupling and high‐precision cruise while ensuring safe collision avoidance. It has the advantages of higher tracking accuracy and stronger anti‐interference performance. |
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Keywords | collision avoidance ; distributed control ; interference suppression ; rail traffic control ; active disturbance rejection control ; artificial potential field ; Transportation engineering ; TA1001-1280 ; Electronic computers. Computer science ; QA75.5-76.95 |
Subject code | 629 |
Language | English |
Publishing date | 2023-12-01T00:00:00Z |
Publisher | Wiley |
Document type | Article ; Online |
Database | BASE - Bielefeld Academic Search Engine (life sciences selection) |
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