Nowadays, precise train parking has become a key technology of automatic train operation. Due to the high nonlinearities and various uncertainties existing in the dynamics of urban rail trains (URTs), it is challenging to develop an effective parking controller to achieve high-precision parking. To address this issue, a novel robust adaptive backstepping controller is proposed in the paper, where a robust term is employed to compensate for the system uncertainties caused by the brake shoe, and meanwhile several parametric adaption laws are equipped to estimate the uncertain system parameters as well as the external disturbances. The closed-loop stability of the controlled system is analyzed rigorously by virtue of the Lyapunov theory, and the effectiveness of the proposed control scheme in precise parking of URTs is demonstrated through numerical simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Accurate Parking Control for Urban Rail Trains via Robust Adaptive Backstepping Approach


    Contributors:
    Huang, Deqing (author) / Yi, Sha (author) / Li, Xuefang (author)

    Published in:

    Publication date :

    2022-11-01


    Size :

    1503810 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Adaptive Backstepping Stopping Control of Urban Rail Vehicle

    Zhang, Meng Nan ;Xu, Hong Ze | Trans Tech Publications | 2013


    Backstepping Automatic Stop Control of Urban Rail Vehicles

    Zhang, M. / Xu, H. | British Library Online Contents | 2014


    Robust adaptive backstepping DP control of ROVs

    Ohrem, Sveinung Johan / Amundsen, Herman Biørn / Caharija, Walter et al. | BASE | 2022

    Free access

    Model-Free Robust Backstepping Adaptive Cruise Control

    Yanan Zhang / Jiacheng Song | DOAJ | 2023

    Free access