Abstract Heavy haul railway plays an important role in providing the convenient and economical services for mass goods transportation. In order to improve the efficiency of heavy haul train transportation, the driving strategy should be developed for the heavier and longer trains correspondingly. This paper addresses the robust efficient intermittent cruise control problem for heavy haul train with uncertain parameters and external disturbances. Inspired by the experience of expert drivers, we design the activated mechanism for the control input under the framework of state-dependent intermittent control, which is distinguished from the traditional continuous train control methods in that the control command is only exerted when the train states satisfy certain conditions. Considering the characteristics of heavy haul train movement, parameters uncertainty and external disturbances are both taken into account in the train state-space dynamic model. On the basis of Lyapunov stability approach and H ∞ theory, a series of linear matrix inequalities (LMIs) are introduced as the sufficient conditions for the existence of the robust efficient state-dependent intermittent cruise controller, which can guarantee both the velocity tracking error and the relative coupler displacement between the two connected cars are stable at the equilibrium state with a prescribed H ∞ disturbance attenuation level. Numerical examples are presented to illustrate the effectiveness of the proposed controller.

中文翻译：

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通过状态相关的间歇控制对重载列车进行鲁棒高效的巡航控制

摘要 重载铁路在为大宗货物运输提供便捷、经济的服务方面发挥着重要作用。为提高重载列车的运输效率，应相应地针对更重、更长的列车制定行车策略。本文解决了具有不确定参数和外部干扰的重载列车的鲁棒高效间歇巡航控制问题。受专家驾驶员经验的启发，我们在状态依赖间歇控制的框架下设计了控制输入的激活机制，与传统的连续列车控制方法不同，控制命令仅在列车状态满足时才施加一定条件下。考虑到重载列车运动的特点，列车状态空间动态模型中同时考虑了参数不确定性和外部干扰。在Lyapunov稳定性方法和H∞理论的基础上，引入了一系列线性矩阵不等式（LMI）作为鲁棒高效状态相关间歇巡航控制器存在的充分条件，既能保证速度跟踪误差，两辆相连汽车之间的相对耦合器位移在平衡状态下是稳定的，具有规定的 H ∞ 干扰衰减水平。给出了数值例子来说明所提出的控制器的有效性。引入了一系列线性矩阵不等式（LMI）作为鲁棒高效的状态相关间歇巡航控制器存在的充分条件，它可以保证两个连接的汽车之间的速度跟踪误差和相对耦合器位移稳定在具有规定的 H ∞ 干扰衰减水平的平衡状态。给出了数值例子来说明所提出的控制器的有效性。引入了一系列线性矩阵不等式（LMI）作为鲁棒高效的状态相关间歇巡航控制器存在的充分条件，它可以保证两个连接的汽车之间的速度跟踪误差和相对耦合器位移稳定在具有规定的 H ∞ 干扰衰减水平的平衡状态。给出了数值例子来说明所提出的控制器的有效性。