Adaptive polynomial approximation-based virtual coupled cooperative control for high-speed trains

Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems. The paper addresses an adaptive polynomial approximation algorithm for the cooperative control of high-speed trains (HSTs) under virtual coupling. It aims to solve the cooperative tracking control problem of HST formation operations under various scenarios, including known and unknown parameters. To enable the HST formation system to achieve cooperative operation while ensuring an appropriate spacing distance, the tracking errors of displacement and speed throughout the entire operation converge to zero. The proposed control strategy focuses on adopting polynomial approximation to handle unknown parameters, which are estimated via adaptive laws. Additionally, the unknown parameters of the HSTs are estimated online through adaptive laws. Experimental results verify the effectiveness of this method.