Regular Papers

International Journal of Control, Automation, and Systems

Published online January 18, 2024

https://doi.org/10.1007/s12555-022-0659-6

© The International Journal of Control, Automation, and Systems

Adaptive Nonsingular Terminal Sliding Mode Tracking Control for High-speed Trains With Input Constraints and Parametric Uncertainties

Zikang Li, Deqing Huang, and Liangcheng Cai*

Southwest Jiaotong University

Abstract

In this paper, a finite-time tracking control strategy for high-speed trains (HSTs) subjected to input constraints and parameter uncertainties is proposed based on adaptive nonsingular terminal sliding mode control (ANTSMC), which achieves the fast and precise displacement-speed trajectory tracking and energy saving results. The dynamic model of HST is established with the basic, additional, and external disturbances firstly. To handle input constraints, a smooth hyperbolic function is designed to approximate saturation function, which guarantees that the control signal does not exceed traction/braking characteristics and ensures safe operation. Then, an adaptive mechanism is used to estimate the upper bounder of the lumped uncertainty and controller’s parameters. Subsequently, the proposed ANTSMC methodology not only assures the finite-time convergence of position and velocity tracking errors, but also effectively compensates parameter uncertainties of the proposed model. Finally, numerical simulations indicate that the proposed method spends the less traction energy in obtaining the better tracking performance of HST.

Keywords Adaptive nonsingular terminal sliding mode control (ANTSMC)
finite-time convergence
high-speed trains (HSTs)
input constraints
tracking control

Article

Regular Papers

International Journal of Control, Automation, and Systems -0001; ():

Published online November 30, -0001 https://doi.org/10.1007/s12555-022-0659-6

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Nonsingular Terminal Sliding Mode Tracking Control for High-speed Trains With Input Constraints and Parametric Uncertainties

Zikang Li, Deqing Huang, and Liangcheng Cai*

Southwest Jiaotong University

Abstract

In this paper, a finite-time tracking control strategy for high-speed trains (HSTs) subjected to input constraints and parameter uncertainties is proposed based on adaptive nonsingular terminal sliding mode control (ANTSMC), which achieves the fast and precise displacement-speed trajectory tracking and energy saving results. The dynamic model of HST is established with the basic, additional, and external disturbances firstly. To handle input constraints, a smooth hyperbolic function is designed to approximate saturation function, which guarantees that the control signal does not exceed traction/braking characteristics and ensures safe operation. Then, an adaptive mechanism is used to estimate the upper bounder of the lumped uncertainty and controller’s parameters. Subsequently, the proposed ANTSMC methodology not only assures the finite-time convergence of position and velocity tracking errors, but also effectively compensates parameter uncertainties of the proposed model. Finally, numerical simulations indicate that the proposed method spends the less traction energy in obtaining the better tracking performance of HST.

Keywords: Adaptive nonsingular terminal sliding mode control (ANTSMC)
finite-time convergence
high-speed trains (HSTs)
input constraints
tracking control

IJCAS
February 2024

Vol. 22, No. 2, pp. 347~729

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IJCAS

eISSN 2005-4092
pISSN 1598-6446