Virtual Coupling Trains Based on Multi-Agent System Under Communication Delay  

作　　者：Guodong QIN Xiangxi MENG Tao WEN Baigen CAI 

机构地区：[1]School of Automation and Intelligence,Beijing Jiaotong University,Beijing 100044,China [2]The Institute of System Research,China Industrial Control Systems Cyber Emergency Response Team,Beijing 100040,China

出　　处：《Chinese Journal of Electronics》2024年第6期1545-1554,共10页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62120106011,52172323,U1913207,and 62125307);the Opening Project of Guangdong Provincial Key Lab of Robotics and Intelligent System。

摘　　要：With the rapid development of railway transportation,virtual coupling(VC)has become a popular research topic.VC can greatly reduce tracking distance and increase the line capacity.Under VC control,the train formation control not only considers the behavior and speed adjustment strategy of the leader train but also the communication delays between trains.The quality of data communication between trains is an important aspect of train tracking control.We consider a virtually coupled train set(VCTS)as a multi-agent system.The Luenberger observer is introduced to estimate the real-time state of the train,based on the estimation,the train control consistency protocol is designed to account for communication delays.The stability of the error system is proven by constructing a Lyapunov function.The consistency of the coordinated train control is verified through simulation.

关 键 词：Virtual coupling(VC) Train communication topology Communication delay Multi-agent system 

分 类 号：U285[交通运输工程—交通信息工程及控制] TN929.5[交通运输工程—道路与铁道工程]