Robust Adaptive Nonsingular Terminal Sliding Mode Control for Automatic Train Operation

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 49; no. 12; pp. 2406 - 2415
• Main Authors: Yao, Xiuming, Park, Ju H., Dong, Hairong, Guo, Lei, Lin, Xue
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Adaptation models; Adaptive control; Adaptive systems; Automatic control; Automatic train operation (ATO); Computer simulation; Manifolds; nonsingular terminal sliding mode (NTSM) control; On-line systems; Parameter uncertainty; position and velocity tracking control; robust adaptive control; Robust control; Robustness; Sliding mode control; Tracking control; Tracking errors; Uncertainty
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2018.2817616

In this paper, we develop robust adaptive nonsingular terminal sliding mode (NTSM) control methodologies to solve the position and the velocity tracking control problem of the automatic train operation (ATO) system subject to unknown parameters, model uncertainty, and external disturbances. A novel nonlinear nonsingular terminal sliding manifold is proposed by considering that its parameter is unknown, which need to be estimated via a proposed non-negative adaptive law. And a corresponding novel robust adaptive NTSM control strategy, which enables the position tracking error and the velocity tracking error of the ATO system to converge to zero, and eliminates the singularity caused by terminal sliding mode controller, is proposed. Furthermore, unknown parameters of the sliding manifold and the ATO system can be estimated online by the proposed methodology. Simulation results show the effectiveness of the proposed methodologies in this paper.