ILQR-Based Robust Control Approach for Virtual Coupled Train Set

This paper proposes a Virtual Coupled Train Set (VCTS) controller based on the Iterative Linear Quadratic Regulator (ILQR) method, achieving stable control of trains under communication fluctuations and enhancing the robustness of VCTS to communication disturbances. A dynamic model of the trains within the platoon is established, taking into account the forces influenced by the preceding trains, and a state-space representation of the system is constructed. The ILQR control method is employed to address the optimization control problem of the trains, and the discrete control formulation of the ILQR controller in the train platoon is derived. To handle the operational constraints of train motion, the augmented lagrangian method is introduced. Finally, simulation experiments involving a six-train platoon with intermittent communication disturbances validate the effectiveness of the proposed controller.