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.


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    Title :

    A Feedforward PID Control Approach for Reference Tracking of Virtually Coupled Train Set


    Contributors:
    Luo, Xiaolin (author) / Gao, Jingtong (author) / Zhang, Yang (author) / Han, Xiao (author) / Liu, Hongjie (author)


    Publication date :

    2023-09-24


    Size :

    4494593 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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