An Observer-Driven Distributed Consensus Braking Control Method for Urban Railway Trains with Unknown Disturbances

An urban railway train is a braking power-distributed system consisting of multiple carriages, which becoming powerful transportation tool to alleviate traffic congestion within cities as well across cities. It critical control an synchronously for improving performances, but challenging be achieved due strong coupling, unknown dynamics, and disturbances. This paper proposes observer-driven distributed consensus method train. Specifically, according the data intersection among controller designed make velocity each carriage converge desired curve. A sliding mode disturbance observer then developed estimate non-linear coupling force The estimation value utilized compensate law. Moreover, potential fields are introduced guarantee that distances between any two neighbouring carriages stabilized in safe range. effectiveness strategy firstly authenticated via Lyapunov stability theory validated numerical comparative simulations.