Efficient Train Operation via Shrinking Horizon Parametrized Predictive Control

Railway collaborative ecodrive via dissension based switching nonlinear model predictive control

“…withf (x k , u k ) being the system dynamics (2) and η(x k , u k ) being the energy efficiency. Note that there are different possibilities to take into account the constraint on journey time, for instance relaxing it with an additional term in the cost function pursuing a receding horizon approach or implementing a shrinking horizon strategy as introduced e.g., in [27] and [28], respectively. that F R = F T for positive slopes and F R = F B for negative slopes; in braking (BR), due to safety reasons, whenever this mode is activated, it is preferred to use maximum braking force, i.e., the handle is chosen such that u k = −1.…”