Randomized trial demonstrates robust trajectory tracking control in heavy-haul freight trains, highlighting its effectiveness against operational challenges.
Key Points
This research aims to develop a robust control system for heavy-haul freight trains to maintain accurate trajectory tracking despite external disturbances and actuator issues.
Developed a prescribed performance function (PPF) to bound position tracking errors.
Utilized an extended state observer (ESO) for estimating disturbances and system states.
Designed a robust sliding mode controller based on PPF and ESO outputs.
The proposed control system showed significantly improved performance over previous methods in trajectory tracking.
Stability of the closed-loop system was proven, ensuring convergence of all states to the origin in finite time.
Computer simulations confirmed the system's robustness against actuator faults and input time delays.