Distributed constrained cooperative control of discrete-time high-speed train systems

In this paper, we study a cooperative control problem for discrete-time high-speed train systems with states constraints in the presence of incomplete exactly known parameters. A distributed control algorithm is adopted to enable all trains to converge to a position and also to keep a safe distance from its neighbours by using local communication. Through multiple model transformations, the system matrix is turned into a stochastic matrix for analysis. The lower bound of each effective element of the system matrix is given to guarantee the convergence of the system.