Virtual coupling has been widely studied recently due to its efficiency and flexibility. However, it is still a challenge for a virtually coupled train set to track arbitrary reference trajectories while keeping a stable formation. To solve this problem, this paper proposes a feedforward proportional-integral-derivative (PID) control approach for VCTS. We integrate feedforward, formation and PID controllers to achieve accurate reference tracking while guaranteeing a stable formation for VCTS. Local and string stability are rigorously proved through Lyapunov and frequency-domain analyses. Finally, the performance of our approach is verified in simulations and field experiments.
A Feedforward PID Control Approach for Reference Tracking of Virtually Coupled Train Set
2023-09-24
4494593 byte
Conference paper
Electronic Resource
English
A distributed adaptive cruise control method for virtually coupled train formation
British Library Conference Proceedings | 2023
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