Accelerated Robust Adaptive Control Based on High-Gain Observer of Pantograph-Catenary System

The pantograph-catenary system of high-speed trains is a nonlinear system with complex structure. Continuous and smooth contact between the pantograph and the catenary is an important guarantee for the current acquisition. When the train runs at high speed, the pantograph-catenary system will be influenced by many uncertain factors. A simplified linear model cannot provide true and effective system information for controller design. Therefore, a model close to the real scene and a controller independent on the model are needed to establish to futher improve the current collection quality of system. In this paper, a nonlinear coupling model of two freedoms pantograph-catenary system is established. Considering only getting the output of the system, an accelerated robust adaptive control based on high-gain observer is designed. The tracking control problem of contact force between the pantograph and the catenary with the proposed method can be olved and a better control effect is achieved showned by simulation. It is worth mentioning that the tracking error of the system achieve to be ultimately uniformly bounded with an accelerated decay speed.