Resumen
This paper studies the distributed adaptive cooperative control of multiple urban rail trains with position output constraints and uncertain parameters. Based on an ordered set of trains running on the route, a dynamic multiple trains movement model is constructed to capture the dynamic evolution of the trains in actual operation. Aiming at the position constraints and uncertainties in the system, different distributed adaptive control algorithms are designed for all trains by using the local information about the position, speed and acceleration of the train operation, so that each train can dynamically adjust its speed through communicating with its neighboring trains. This control algorithm for each train is designed to track the desired position and speed curve, and the headway distance between any two neighboring trains is stable within a preset safety range, which guarantee the safety of tracking operation of multiple urban rail trains. Finally, the effectiveness of the designed scheme is verified by numerical examples.