Adaptive Sliding Mode Tracking Control for Multiple High-Speed Trains with Actuator Saturation and Parameter Uncertainties

This paper investigates the tracking control problem for multiple high-speed trains with actuator saturation and parameter uncertainties. An auxiliary saturation compensation system is constructed to deal with the actuator saturation. In addition, the adaptive control is utilized to estimate unknown parameters. A nonsingular fast terminal sliding mode (NFTSM) surface is designed based on the tracking errors between trains. Then, an adaptive sliding mode tracking controller is designed. By the proposed tracking control scheme, the sliding mode surface can be quickly reached. Moreover, the position and speed tracking errors of all trains can converge to zero in finite time. Finally, simulations are carried out to illustrate the feasibility and effectiveness of the proposed tracking control scheme.