Composite Pi-like adaptive dynamic surface control for interval coordination of multiple trains

Emerging communication-based train control (CBTC) technique is a critical foundation for automatic or semi-automatic train operation for guaranteed safety, line utilization, operation efficiency, and energy saving toward intelligent rail transportation systems. Multiple train cooperative control encounter great challenges from train control, communications, interval coordination, and uncertainties in operational environments. The paper introduces a composite PI-like control algorithm based on dynamic surface technique for multiple trains under moving signaling systems. A scenario of predecessor-follower is considered and corresponding control algorithm is proposed and its stability is established using Lyapunov theorem. The methodology utilizes local information through on-board sensors and T2T communications, but guarantees global deployment and performance of the multiple trains queueing. The control ability is analyzed and demonstrated to be effective via simulation studies.