Fractional-Order Adaptive Fault-Tolerant Tracking Control for High Speed Trains

This paper puts forward a fractional-order control method (FOCM) to deal with the velocity/position tracking control problem of high speed trains. Considering the nonlinearities and uncertainties of the system such as nonlinear control inputs, time-varying parameters, disturbances, in-train forces and actuator failures, the developed method is adaptive, robust, fault-tolerant and does not involve detailed information of the system parameters. Furthermore, based on the fractional calculus, the proposed controller obviously improves the control performance of the system, especially in control precision, anti-interference ability and convergence aspects. The feasibility and effectiveness of the FOCM is certified by Lyapunov stability analysis and numerical simulation studies, as well as the contrasts with PID method.