A Feedforward PID Control Approach for Reference Tracking of Virtually Coupled Train Set.

Xiaolin Luo, Jingtong Gao, Yang Zhang, Xiao Han,Hongjie Liu

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)（2023）

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摘要

Virtual coupling has been widely studied recently due to its efficiency and flexibility. However, it is still a challenge for a virtually coupled train set to track arbitrary reference trajectories while keeping a stable formation. To solve this problem, this paper proposes a feedforward proportional-integral-derivative (PID) control approach for VCTS. We integrate feedforward, formation and PID controllers to achieve accurate reference tracking while guaranteeing a stable formation for VCTS. Local and string stability are rigorously proved through Lyapunov and frequency-domain analyses. Finally, the performance of our approach is verified in simulations and field experiments.

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关键词

Control Approach,Reference Tracking,Virtual Coupling,Field Experiments,Stable Form,Postural Stability,Formation Control,Frequency Domain Analysis,Reference Trajectory,Feedforward Control,Rest Of The Paper,Control Input,Stability Control,Tracking Error,Speed Limit,Model Predictive Control,Policy Space,Backward Propagation,Position Of Unit,Reference Speed,Model Predictive Control Approach,Optimal Control Approach,Case Unit

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