A Consistent Observer-Based Control for Multiple High-Speed Trains with Time-Varying Delay

This paper presents an observer for cooperative control of multiple high-speed trains (MHST) subjected to time-varying observation delay and state constraints. Firstly, MHST is modeled as a leader-following multi-agent system, wherein every HST communicates its state information with neighboring HSTs via communication networks. For systems where the leader HST is driven by an unknown control input, an efficient consistent state observer is employed to monitor the state information of the MHST. Subsequently, the feedback controller and state observer gains of MHST are determined by formulating linear matrix inequality (LMI) using Lyapunov-Krasovskii theory, considering inherent transmission delays in the observation process of state information. Finally, simulation results confirm the efficacy of the proposed cooperative control strategy for MHST with time-varying delay in state observation.