Distributed cooperative tracking control for heavy haul trains with event-triggered strategy

A cooperative control with distributed event-triggered strategy for heavy haul trains is proposed to track the desired velocity with minimum in-train forces under the consideration of operation efficiency and resource utilization. Event-triggered sampling mechanism is employed in determining the time instants for state sampling and transmission among locomotives to reduce system operation and resource consumption. A theorem for the triggering condition is developed to achieve the cooperative tracking under event triggering mechanism by exploiting the M-matrix, algebraic graph theory and the Lyapunov method. It is rigorously proved that the closed-loop system is uniformly asymptotically cooperative stable under proposed strategy. Simulations demonstrate the feasibility and effectiveness of the proposed strategy.