PARAMETER-VARYING ARTIFICIAL POTENTIAL FIELD CONTROL OF VIRTUAL COUPLING SYSTEM WITH NONLINEAR DYNAMICS
Yuan Cao, Jiakun Wen, Aatef Hobiny, Peng Li, Tao Wen
Abstract
In rail transit systems, improving transportation efficiency has become a research hotspot. In recent years, a new method of train control system based on virtual coupling has attracted the attention of many scholars. Virtual coupled train is a typical nonlinear system. How to control the nonlinear system with high precision is the key to realize the safe and efficient operation of virtual coupled train. Therefore, this paper proposes a virtual coupling scheme based on local leader–follower method. On this basis, the controller based on artificial potential field with variable parameter mixed is applied to carry out the collaborative and anti-collision control for the virtual coupled train system with nonlinear dynamics. Finally, a section of the Beijing–Shanghai high-speed railway is taken as the background to verify the effectiveness of artificial potential field with variable parameter mixed controller. The results show that the variable parameter artificial potential field controller with changing the weight can reduce the average error of the stop by 0.4304[Formula: see text]m compared with the traditional controller.