Dealing with nonlinear and uncertain nonlinear resistances in train control via adaptive approach

Resistive forces such as mechanical frictions and aerodynamic drags are inevitable in high speed train during its operation. This paper investigates the problem of adaptive compensation of such uncertain resistive forces in train systems to achieve high precision speed and position tracking. A control scheme is developed via adaptive backstepping approach to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain resistive forces arisen from varying operation conditions. Both theoretical and numerical simulation confirms that the resultant control algorithms are able to achieve high precision train position and speed tracking.