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)

Simulation results of Theorem 1. (a) Profiles of e _i. (b) Profiles of speed tracking errors. (c) Profiles of acceleration tracking errors. (d) Trajectories of location versus time of five trains.