Nonlinear Model Predictive Control for Automatic Train Operation with Actuator Saturation and Speed Limit

Abstract:

This paper addresses a position and speed tracking problem for high-speed train automatic operation with actuator saturation and speed limit. A nonlinear model predictive control (NMPC) approach, which allows the explicit consideration of state and input constraints when formulating the problem and is shown to guarantee the stability of the closed-loop system by choosing a proper terminal cost and terminal constraints set, is proposed. In NMPC, a cost function penalizing both the train position and speed tracking error and the changes of tracking/braking forces will be minimized on-line. The effectiveness of the proposed approach is verified by numerical simulations.

• Periodical: Applied Mechanics and Materials (Volume 678)
• Pages: 377-381
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.678.377
• Online since: October 2014
• Authors: Long Sheng Wang*, Hong Ze Xu
• Keywords: Automatic Train Operation (ATO), Constrains, High-Speed Train, Model Predictive Control, Trajectory Tracking

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