Robust consensus braking algorithm for distributed EMUs with uncertainties

In this study, the velocity tracking control of electric multiple units (EMUs) with non-linearity and uncertainty during braking is investigated. A consensus braking algorithm with distributed sliding mode observers is proposed. Firstly, a multi-agent model with non-linear coupling and uncertain external disturbances is established. Secondly, distributed observers are designed, in which a real-time estimation equation for coupling force and disturbances is established based on the equivalent control principle of sliding mode variable structure. Finally, a robust consensus algorithm is proposed to achieve a consensus velocity tracking of each carriage on the target braking curve. The distances between the adjacent carriages are stabilised at stationary distances in a safe range by an artificial potential field function. Experiments show that the algorithm has high accuracy and anti-interference ability in the braking process.