Adaptive Fault-Tolerant Sliding-Mode Control for High-Speed Trains With Actuator Faults and Uncertainties

Abstract

In this paper, a novel adaptive fault-tolerant slidingmode control scheme is proposed for high-speed trains, where the longitudinal dynamical model is focused, and the disturbances and actuator faults are considered. Considering the disturbances in traction force generated by the traction system, a dynamic model with actuator uncertainties modelled as input distribution matrix uncertainty is established. Then, a new sliding-mode controller with design conditions is proposed for the healthy train system, which can drive the tracking error dynamical system to a pre-designed sliding surface in finite time and maintain the sliding motion on it thereafter. In order to deal with the actuator uncertainties and unknown faults simultaneously, the adaptive technique is combined with the fault-tolerant slidingmode control design together to guarantee that the asymptotical convergence of the tracking errors is achieved. Furthermore, the proposed adaptive fault-tolerant sliding-mode control scheme is extended to the cases of the actuator uncertainties with unknown bounds and the unparameterized actuator faults. Finally, case studies on a real train dynamic model are presented to explain the developed fault-tolerant control scheme. Simulation results show the effectiveness and feasibility of the proposed method.Index Terms-Actuator faults, fault-tolerant sliding-mode control, adaptive control, actuator uncertainty, high-speed train.

Nonfragile fault‐tolerant control of suspension systems subject to input quantization and actuator fault

“…Therefore, it deserves further investigation for the suspension control systems by considering modeling error, nonlinear dynamics, and actuator implementation. Some other models, such as Markovian jump system model, 37,41 fuzzy and neural systems, 42‐47 and different design strategies, such as slide mode control, 32‐34 adaptive control, 36,47 can be combined with the proposed methods.…”

“…In this study, the system parameters, such as m u , c s , c t , k s , k t , are assumed to be constant, which implies the model is simplified. Of course, the more complex controlled models by considering the parameter perturbation and nonlinear dynamics via different control strategies can be referred to References 2,3,5,6,8,10,11, and 32‐34. This study is focused on the nonfragile quantized control for SSs based on a relatively simplified model, and the developed design strategy can also be applied to the above models with more complexity, which would be further considered in our future work thus is omitted here.…”

“…Apart from the actuator uncertainty or controller gain perturbation, it is also vital to consider the reliability of the actuator, 32‐34 which has a significant effect on the performance of ASS. Consequently, it is desired to develop a reliable controller or fault‐tolerant controller for the ASS to tolerate the possible actuator faults 35‐37 and preserve adequate ride comfort and safety for passengers.…”

Distributed Cooperative Sliding Mode Fault-Tolerant Control for Multiple High-Speed Trains Based on Actor-Critic Neural Network

“…During the past years, there were various fault-tolerant control schemes developed for single train, including back stepping control [3], neural network control [4], and sliding mode control (SMC) [5]. In [3], an adaptive backstepping fault-tolerant control scheme was designed for HSTs with unknown parameters, actuator faults, and disturbances, and a piecewise time-varying indicator function was used to describe the train motion model.…”

“…In [4], a neuroadaptive fault-tolerant control method was proposed for HSTs with actuation notches and antiskid constraints, and the radial basis function neural network (RBFNN) was used to study the nonlinear parameters of the system. In [5], an adaptive sliding mode fault-tolerant control (SMFTC) scheme was designed to solve the actuator uncertainties and faults of HSTs, simultaneously, and a dynamic model with input distribution matrix uncertainty is established to describe the properties of the train system. Nowadays, with the increasing pressure of urban traffic, the number of HSTs is gradually increasing, and the methods and ways for singletrain operation control have not been enough to meet the efficiency and safety requirements so that there are frequent incidents of train delays and passenger dissatisfaction [6].…”