This paper investigates the robust efficient self-triggered cruise control problem for high-speed trains to reduce the consumptions of the computational resources and wireless communication bandwidth. By capturing the dynamic evolution of high-speed trains in the actual environment, an error dynamic state-space model is established considering uncertain parameters, input constraints and disturbances to the train motion. According to the event-triggered control framework, a co-design method is introduced to design the cruise controller and the event-triggered condition jointly. Based on the Lyapunov stability method, a sufficient condition for the existence of the robust state-feedback control law and the event-triggered condition parameter are presented in terms of linear matrix inequalities (LMIs), which ensures that the high-speed train tracks the desired speed, and the coupler deviations are stable at the equilibrium point under external disturbances. With the fact that the event-triggered controller often requires a dedicated detector to continuously monitor the system state, a self-triggered implementation is further developed to dynamically calculate the next triggered instant at each update time based on recently collected information. In the end, numerical experiments are provided to illustrate the effectiveness of the proposed approach in tracking the desired movement profiles, and thereby demonstrates the advantages of the proposed self-triggered controller over the traditional periodic triggered control method.

本文研究了高速列车的鲁棒有效的自触发巡航控制问题，以减少计算资源和无线通信带宽的消耗。通过捕获高速列车在实际环境中的动态演变，建立了一个不确定的动态状态空间模型，该模型考虑了不确定的参数，输入约束和对列车运动的干扰。根据事件触发的控制框架，提出了一种协同设计方法来联合设计巡航控制器和事件触发条件。基于Lyapunov稳定性方法，根据线性矩阵不等式（LMI），给出了鲁棒状态反馈控制律和事件触发条件参数存在的充分条件，这样可以确保高速列车跟踪所需的速度，并且在外部干扰下，耦合器偏差在平衡点处保持稳定。由于事件触发的控制器通常需要专用的检测器来连续监视系统状态，因此，进一步开发了一种自触发的实现，可以基于最近收集的信息在每个更新时间动态计算下一个触发时刻。最后，提供了数值实验来说明所提出的方法在跟踪所需运动曲线方面的有效性，从而证明了所提出的自触发控制器相对于传统的周期性触发控制方法的优势。由于事件触发的控制器通常需要专用的检测器来连续监视系统状态，因此，进一步开发了一种自触发的实现，可以基于最近收集的信息在每个更新时间动态计算下一个触发时刻。最后，提供了数值实验来说明所提出的方法在跟踪所需运动曲线方面的有效性，从而证明了所提出的自触发控制器相对于传统的周期性触发控制方法的优势。由于事件触发的控制器通常需要专用的检测器来连续监视系统状态，因此，进一步开发了一种自触发的实现，可以基于最近收集的信息在每个更新时间动态计算下一个触发时刻。最后，提供了数值实验来说明所提出的方法在跟踪所需运动曲线方面的有效性，从而证明了所提出的自触发控制器相对于传统的周期性触发控制方法的优势。