The Dynamic Merge Control for Virtual Coupling Trains Based on Prescribed Performance Control

The virtual coupling technology is a promising train control system that connects vehicles through wireless communication instead of physical train couplers. For the virtually coupled train dynamic control system, the strategy for dynamic merge control is one of the most crucial problems to achieve the dynamic formation for train sets with different speed. This article proposes a dynamic merge controller based on the prescribed performance control method. The reference speed trajectories are calculated under different scenarios with respect to the variety of conditions between the leading and following trains. The designed controller can make both the tracking distance error and the speed error asymptotically converge to the zero state, and meanwhile satisfies the transient-state and steady-state performances in presence of unknown external disruptions and uncertain train parameters. Experimental results are provided to demonstrate the performance of designed strategy in enhancing the precise control the virtually coupled trains.