Cooperative adaptive bidirectional control of a train platoon for efficient utility and string stability

Gao Shi-Gen^a), Dong Hai-Rong†^a), Ning Bin^a), Roberts Clive^b), Chen Lei^b), Sun Xu-Bin^c)

Trajectories of desired speed, location, and disturbance. (a) Prespecified speed and location profiles for train 1. (b) Profiles and d _i.