Event-Triggered Model-Free Adaptive Compensation Control for Subway Trains under Denial of Service Attacks and Round-trip Time Delays

In this paper, an event-triggered model-free adaptive compensation control method is presented for subway trains with speed and traction/braking force constraints under denial of service attacks and round-trip time delays. Firstly, the complex subway train system is transformed into a linear data model by using dynamic linearization technology. Secondly, an event-triggered mechanism is designed to reduce the burden of communication and computation. For the denial of service attacks and round-trip time delay, two compensation mechanisms are designed. Finally, a simulation for the subway train system is given to show the effectiveness and robustness of the presented control algorithm.