Cooperative adaptive bidirectional control of a train platoon for efficient utility and string stability
Gao Shi-Gena), Dong Hai-Rong†a), Ning Bina), Roberts Cliveb), Chen Leib), Sun Xu-Binc)
       
Simulation results of Theorem 3. (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.