title: Robust adaptive cruise control of high speed trains.
abstract: The cruise control problem of high speed trains in the presence of unknown parameters and external disturbances is considered. In particular a Lyapunov-based robust adaptive controller is presented to achieve asymptotic tracking and disturbance rejection. The system under consideration is nonlinear, MIMO and non-minimum phase. To deal with the limitations arising from the unstable zero-dynamics we do an output redefinition such that the zero-dynamics with respect to new outputs becomes stable. Rigorous stability analyses are presented which establish the boundedness of all the internal states and simultaneously asymptotic stability of the tracking error dynamics. The results are presented for two common configurations of high speed trains, i.e. the DD and PPD designs, based on the multi-body model and are verified by several numerical simulations.
authors.affiliation: Department of Electrical Engineering, Miyaneh Branch, Islamic Azad University, Miyaneh, Iran. Electronic address: mfaieghi@gmail.com.
authors.forename: Mohammadreza
authors.initials: M
authors.lastname: Faieghi
authors.affiliation: School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran.
authors.forename: Aliakbar
authors.initials: A
authors.lastname: Jalali
authors.affiliation: School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran.
authors.forename: Seyed Kamal-e-ddin Mousavi
authors.initials: SK
authors.lastname: Mashhadi
keywords: Cruise control; High speed train (HST); Non-minimum phase system; Nonlinear systems; Robust adaptive control