Adaptive and Robust Fault-Tolerant Tracking Control of Contact force of Pantograph-Catenary for High-Speed Trains

Abstract This paper presents a modified multi-body dynamic model and a linear time-invariant model with actuator faults (loss of effectiveness faults, bias faults) and matched and unmatched uncertainties. Based on the fault model, a class of adaptive and robust tracking controllers are proposed which are adjusted online to tolerate the time-varying loss of effectiveness faults and bias faults, and compensate matched disturbances without the knowledge of bounds. For unmatched uncertainties, optimal control theory is added to the controller design processes. Simulations on a pantograph are shown to verify the efficiency of the proposed fault-tolerant design approach.

[1]  Guang-Hong Yang,et al.  Adaptive Fault-Tolerant Tracking Control Against Actuator Faults With Application to Flight Control , 2006, IEEE Transactions on Control Systems Technology.

[2]  Fuzhen Zhang.  Matrix Theory: Basic Results and Techniques , 1999 .

[3]  Guang-Hong Yang,et al.  Robust fault-tolerant control based on sliding mode method for uncertain linear systems , 2013, J. Syst. Control. Eng..

[4]  Chih-Chieh Yang,et al.  Robust Active Vibration Control for Rail Vehicle Pantograph , 2007, IEEE Transactions on Vehicular Technology.

[5]  Arie Levant,et al.  Output-feedback control of the contact-force in high-speed-train pantographs , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[6]  Guang-Hong Yang,et al.  Robust adaptive fault-tolerant control for linear systems with actuator failures and mismatched parameter uncertainties , 2014 .

[7]  Fan Yu,et al.  Active self-adaptive control of high-speed train pantograph , 2011, 2011 IEEE Power Engineering and Automation Conference.

[8]  Guang-Hong Yang,et al.  Reliable $H_{\infty}$ Control of Linear Systems With Adaptive Mechanism , 2010, IEEE Transactions on Automatic Control.

[9]  Guang-Hong Yang,et al.  Robust adaptive fault-tolerant control for uncertain linear systems with actuator failures , 2012 .

[10]  Z. Qu.  Global stabilization of nonlinear systems with a class of unmatched uncertainties , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[11]  Yingwei Zhang,et al.  Adaptive actuator fault compensation for linear systems with matching and unmatching uncertainties , 2009 .

[12]  Marcel Staroswiecki,et al.  Fault Accommodation for Nonlinear Dynamic Systems , 2006, IEEE Transactions on Automatic Control.

[13]  Chang-Soo Han,et al.  A catenary system analysis for studying the dynamic characteristics of a high speed rail pantograph , 2002 .

[14]  Tomás Rojo,et al.  A Mathematical Model of the Pantograph-Catenary Dynamic Interaction with Several Contact Wires , 2007 .

[15]  Kazuo Yoshida,et al.  Running Test on Current Collector with Contact Force Controller for High-Speed Railways , 1997 .

[16]  Luca Sani,et al.  Innovative Solutions for Overhead Catenary-Pantograph System: Wire Actuated Control and Observed Contact Force , 2000 .

[17]  Alessandro Pisano,et al.  Contact Force Regulation in Wire-Actuated Pantographs , 2008 .

[18]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[19]  Xiaoli Ma,et al.  Adaptive state feedback and tracking control of systems with actuator failures , 2001, IEEE Trans. Autom. Control..