Adaptive Controller Designed for High-Speed Train ATO System with Nonlinear and Uncertain Resistance

This paper investigates the tracking control problem of high-speed train system. The nonlinearities and uncertainties exist during the train operation are becoming even worse and cannot be ignored or simply linearized anymore as the speed increases. An adaptive control algorithm is developed to improve the tracking performance that does not rely on the accurate model parameters which are impossible to obtain precisely in practice and can deal with the nonlinearities efficiently. Based on the Lyapunov stability theory, the backstepping design method is used to deduce the control law step by step, and the certainty-equivalent principle is employed to dispose the uncertain parameters. Both the rigorous theoretical analysis and simulation results are all verified the effectiveness of this proposed control algorithm.