Distributed Formation Control Based on Disturbance Observers for High-Speed Trains With Communication Delays

This paper investigates the position and velocity tracking control of the high-speed train (HST) formation with communication delay and proposes a distributed anti-disturbance control criterion based on the graph theory and the Lyapunov-Razumikhin theory. Firstly, the tracking error systems of the$n$-HSTs convoy is established with the consideration of the non-linearity of aerodynamic drag, the gust force disturbance and the time-varying heterogeneous delay caused by the transport process. Secondly, a distributed control strategy for the HST formation under communication delays based on disturbance observers is proposed, which can ensure the asymptotic stability of the tracking error system for the HST formation under disturbances and effectively improves the system robustness. Finally, a simulation example is given to verify the validity of the results.