Adaptive iterative learning control for high-speed train: A multi-agent approach

The precise tracking control of high-speed train is an essential prerequisite to ensure the safety and comfort of the train. In this paper, an adaptive iterative learning control (ILC) scheme for the velocity and displacement tracking of high-speed train is proposed to handle the unknown time-varying parameters and lumped uncertainties. The composite energy function (CEF) method is used to analyze the stability of closed-loop system. Since the train usually runs on the same railway periodically, such as the same tunnels, slopes, bridges, etc., ILC is an inherent method for designing the tracking controller that is able to improve the operation performance of train iteratively. To the best of our knowledge, it is the first time that the multi-agent framework and ILC methodology are considered simultaneously in a single train, which can better reveal the coupled characteristic of adjacent cars and impose the repetitive operation pattern of train. The results of numerical simulations show that the tracking performance of the train toward the reference trajectory is significantly improved along with the increase of the number of operations.