Train in the virtually coupling train group operates at the same speed and a small interval, and is prone to be disturbed by adjacent trains and generate control fluctuations, which also brings greater pressure to communication. The self-triggering control can relieve the pressure of communication and calculation and reduce the control frequency, but the calculation cost at the trigger time will inevitably rise. Therefore, a cruise control method based on improved self-triggered model predictive control is proposed. The results show that this method can greatly reduce the calculation time while having good convergence.
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He et al. (2024) studied this question.
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