Multi-agent-based hierarchical coordinated control of multiple high-speed trains against malicious agent

This study investigates the coordinated control of multiple high-speed trains based on multi-agent systems (MASs), focusing on the threat posed by a malicious agent that falsifies its control parameters. First, the coordinated control of HSTs is formulated as a consensus problem within the MASs framework, and the malicious agent is modeled based on the potential disruptions (collisions, separations, or escapes within the group) it could cause. Further, to address the potential disruptions caused by the malicious agent, a hierarchical control scheme is proposed, in which the malicious agent’s neighbors (Leaders) are assigned specific geometric conditions to mitigate its influence, while ensuring that the malicious agent remains within the group. Meanwhile, the remaining trains, acting as Followers, employ adaptive control to adjust their speeds in response to the Leaders. Additionally, an artificial potential function is introduced into the control law to ensure that the inter-train distances are maintained at desired values. The simulation results demonstrate the effectiveness of the proposed framework.