<b>Method to Improve Adaptation Speed of Control Parameters for Active Control Pantographs</b>

Estimator-based H∞ control considering actuator time delay for active double-pantograph in high-speed railways

“…Without the loss of generality, the SSS400þ pantograph widely used in China high-speed railway network is employed as both the LP and TP. According to the earlier studies, [8][9][10][11][12][13][14][15][16][17][18][19] the pantograph is regarded as a threestage lumped model, as shown in Figure 3. m 1 , m 2 , and m 3 denote the equivalent masses of the collector, upper frame, and lower frame of the pantograph.…”

“…This paper attempts to overcome this challenge through active control of the double-pantograph based on our previous works, 6,7 which has been explored in the single-pantograph-catenary system. [8][9][10][11][12][13][14][15][16][17][18][19] In recent years, many controllers were developed for the active pantograph, such as Proportion Integration Differentiation (PID) control, [8][9][10] sliding mode control, 11,12 optimal control, 13,14 fuzzy control, 15 model predictive control, 16 adaptive and robust fault tolerant control, 17 backstepping control, 18 feedforward control, 19 etc. However, the validations of these controllers [8][9][10][11][12][13][14][15][16][17][18][19] were only verified with single pantograph, which might be inefficient with double pantographs due to the more complex structure and higher nonlinearity of the system.…”

“…This paper attempts to overcome this challenge through active control of the double-pantograph based on our previous works, 6,7 which has been explored in the single-pantograph-catenary system. 8–19…”

“…In recent years, many controllers were developed for the active pantograph, such as Proportion Integration Differentiation (PID) control, 8–10 sliding mode control, 11,12 optimal control, 13,14 fuzzy control, 15 model predictive control, 16 adaptive and robust fault tolerant control, 17 backstepping control, 18 feedforward control, 19 etc. However, the validations of these controllers 8–19 were only verified with single pantograph, which might be inefficient with double pantographs due to the more complex structure and higher nonlinearity of the system. Even though the influence of small time delay (5 ms) was slightly discussed, 9 how to overcome greater actuator time delay was not mentioned before.…”