Fuzzy-adaptive fault-tolerant control of high speed train considering traction/braking faults and nonlinear resistive forces

High precision speed and position tracking control is important to ensure safe and reliable operation of high speed train. This paper presents a solution to achieve fault-tolerant control of train consisting of multiple vehicles with distributed traction and braking systems. A multiple point-mass model coupled with uncertain resistive forces (i.e. aerodynamic resistance, mechanical resistance, transient impacts, etc.) is utilized for control design and stability analysis. Traction and braking faults in the form of tracking power loss and/or braking capability loss are explicitly considered. To cope with the resultant dynamic model that contains actuator faults, uncertain in-train forces as well as resistive disturbances, a fuzzy-adaptive fault-tolerant control method is proposed. The salient feature of the developed control scheme lies in its independence of the precise dynamic model of the train. More specifically, there is no need for system parameter estimation, no need for fault detection and diagnosis, and no need for in-train force and resistive force estimation or approximation in designing and implementing the control scheme. The stable control algorithm is derived based on Lyapunov stability theory. Its effectiveness is confirmed with simulation verification. © 2011 Springer-Verlag.