Asymptotical Cooperative Cruise Fault Tolerant Control for Multiple High-speed Trains with State Constraints

This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the structural information of faults is designed to achieve asymptotical estimation of states and faults of each carriage. The observer does not rely on choice of control input, and thus it is separated from controller design. Based on the estimated values of states and faults, a distributed fault tolerant controller is designed to realize asymptotical cooperative cruise control of trains under the constraints of ensuring both position difference and velocity difference of adjacent trains in specified ranges.