Data-Based Adaptive Asymptotic Tracking Control for High-Speed Train: A Feedback Linearization Approach

This paper presents a novel data-based adaptive control strategy based on feedback linearization to address the asymptotic tracking control problem of position and speed for underactuated high-speed train (HST). The proposed strategy accounts for basic resistances, in-train forces, multiple unknown disturbances, and unknown system parameters. The key contributions of this paper are threefold. First, the proposed strategy eliminates the reliance on exact model parameters by incorporating adaptive mechanism, which is a significant advancement over traditional feedback linearization method. Second, by combining Lyapunov stability theory with a novel output redefinition approach, the stability of the zero dynamics system for underdriven HST is rigorously demonstrated. Third, an improved equivalent control law is introduced, which not only suppresses unknown disturbances automatically but also mitigates severe chattering phenomenon. Simulation on a HST with 2 motor cars and 6 trailer cars is provided for verifying the theoretical results. Simulation results show that the proposed strategy achieves asymptotic tracking of the locomotive to the desired position and speed trajectories as well as ensures the uniformly ultimately bounded stability of the internal dynamics of all trailers. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i>—The underactuated high-speed train (HST) system, as a practical engineering system, is characterized by multi-input multi-output, multivariable coupling, and nonlinearity. During the operation of an underactuated HST, the system is inevitably affected by basic resistances, in-train forces, multiple unknown disturbances, and time-varying system parameters. This paper aims to achieve high-precision tracking of the position and speed of underactuated HST under accounting for these factors. The proposed data-based control scheme enhances practicality by applying the feedback linearization combined with adaptive mechanism to deal with the nonlinearity of the underactuated HST. To address the challenges posed by the complex operating environments of HST, adaptive control is introduced. Additionally, an adaptive sliding mode control method is employed to enhance the robustness and fast convergence of the proposed control scheme, while effectively mitigating severe chattering. The simulation results show that the HST can achieve high-precision tracking of the desired position and speed curves in the presence of unknown system parameters and disturbances.