High Speed Train tracking controller based on Kalman filter

Aiming at the tracking control of high-speed train, the output feedback design of high-speed train based on Kalman filter is designed. In order to improve the speed tracking accuracy, a linear Kalman filter and an extended Kalman filter based speed observer are designed for the position of high-speed train and the measured linear and nonlinear outputs of the inertial link of the onboard equipment. A sliding mode method based track tracking controller is designed for high-speed train. Lyapunov stability analysis ensures the stability of error variables. The computer simulation gives the estimation error range of different sampling period speed and the effectiveness of the control algorithm.