Cooperative $H_{\infty}$ Control of Multiple High-Speed Trains With Saturation Constraints

This paper studies the distributed cooperative
$H_{\infty }$
control problem of multiple high-speed trains with input saturation constraints, external disturbances and nonlinear running resistance. Based on the local information, a new distributed control algorithm is proposed for each train to enable all trains to move in a stable mode while tracking a desired velocity. To attenuate the effects of external disturbances on the cooperative control, the
$H_{\infty }$
control technology is used and some sufficient conditions are then obtained to guarantee that the cooperative control under a desired performance is realized. Finally, simulations are provided to show the effectiveness of the results.