Automatic Train Operation for Heavy-Haul Trains Based on Adaptive Nonsingular Terminal Sliding Mode Control

This study proposes a novel automatic train operation approach for heavy haul trains. The goal is to design a train trajectory tracking approach by simultaneously taking in-train coupler forces, non-negligible control command response processes, and parameter uncertainty into consideration. A three-order multiple-point-mass train model with consideration of command response process is established. Then by dividing the whole train into locomotive and wagon groups, the controller based on adaptive nonsingular terminal sliding mode control approach is designed. Finally, the effectiveness of the proposed method is demonstrated in a real-world case study.