.png){kind=icon}
返回
Distributed Robust Model Predictive Control for Virtual Coupling Under Structural and External Uncertainty
.png){kind=icon}
OA
AI
DOI：10.1109/TITS.2024.3363136.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Virtual coupling is expected to primarily improve the capacity of a railway system. Virtual coupled systems are affected by multi-source disturbances due to the complex operating environment. However, existing research only partially considers the effects of structural or external disturbances, which limits the stability and robustness of the virtually coupled train set (VCTS). In this paper, we aim to tackle the challenges arising from both structural and external disturbances in virtual coupling. We specifically propose a distributed robust model predictive control (DRMPC) solution based on a linearized model by joining linear feedback and feedforward control into a model predictive control (MPC) framework with a discrete Kalman filter (DKF). We also theoretically derive and prove a set of sufficient conditions for both local and string stabilities under structural uncertainty. The stability conditions are incorporated into the constraint space of the distributed MPC framework in order to guarantee system stability in the presence of structural and external uncertainties. The simulation results validate that our proposed control method can stabilize train platooning under both structural and external disturbances. Our control method particularly reduces the spacing and velocity tracking errors by approximately 97.55% and 99.97% on average, respectively, as compared to several baselines.
Keyword:
Stability analysis
Couplings
Uncertainty
Rail transportation
Control systems
Feedforward systems
Formation control
Distributed robust model predictive control
virtual coupling
local stability
string stability
uncertainty
期刊
IF:
8.4
论文数:
9.7K
被引数:
6.3W
机构
引用论文
Distributed MPC for Reconfigurable Architecture Systems via Alternating Direction Method of Multipliers通过乘法器的交替方向方法用于可重构体系结构系统的分布式MPC
.png){kind=icon}
PREAI
分享收藏
String stability for vehicular platoon control: Definitions and analysis methods车辆队列控制的字符串稳定性: 定义和分析方法
PREAI
分享收藏
查看更多内容