Reinforced Prescribed Performance Control for Virtually-Coupled Trains With Saltatory Targets and Switching Constraints

Virtual Coupling (VC) has emerged as a promising strategy for railway system control, offering significant enhancements to rail-line capacity and addressing uneven transport demand by dynamically minimizing the headway distance between trains when necessary. Consequently, the operating targets of VC rear trains, which can be influenced by operational environments and railway line conditions, must be promptly adjusted based on the spacing from the adjacent leading train. This adjustment ensures operational safety within the train movement authority. Different from traditional continuous prescribed performance control (PPC), this paper proposes a discontinuous reinforced prescribed performance control (RPPC) strategy, which takes into account both actual and converted errors and introduces innovative segmented dynamic control strategies designed for continuous operation time periods and discontinuous impulse points. To prevent unnecessary disruptive switching during transient moments, switching constraints (SCs), based on the speed and position of the rear train, are established. Additionally, leveraging Lyapunov theory, the stability of the closed-loop system for train operation is rigorously proven. Finally, a simulation scenario for a 3-train formation, along with a further data-based semi-physical simulation of a 2-train system, are presented for demonstrating the feasibility of the main results. Note to Practitioners—For railway system operators, the evolution of VC marks a significant advancement in enhancing railway capacity and addressing uneven transport demand. By minimizing headway distances when needed, it optimizes overall operational efficiency. Implementing VC, however, requires precise adjustments to the operating targets of trailing trains based on their spacing from the leading train, while considering diverse operational environments and railway line conditions. Ensuring safety demands advanced control strategies capable of dynamically adapting to these variations. This study introduces a discontinuous RPPC strategy that integrates actual and converted train tracking errors, employing segmented dynamic control for both continuous and discontinuous operation periods. This approach enhances control responsiveness and accuracy while avoiding unnecessary disruptions caused by SC techniques during transient moments through speed-position-based operation. In practice, the RPPC strategy enables railway operators to optimize scheduling, increase capacity, and effectively manage uneven transport demand. It contributes to improved operational efficiency, safety, and the overall quality of railway services.