| With the continuous development of social economy,the people’s growing demand for passenger and freight transportation has promoted the continuous improvement of railway traffic density and train operation speed.High-speed trains have affected by a variety of factors in the process of driving,the traditional way of manual train driving can’t meet the current requirements of safe driving,automatic train driving technology provides a solution to alleviate the pressure of manual driving.Based on this technology,the cooperative operation of multiple high-speed trains can not only increase the traffic density of the railway and improve the transport efficiency of the railway,but also greatly optimize the tracking interval between trains to ensure the safe and reliable operation of the trains.However,in practice,due to the limited network bandwidth and communication capacity,it is difficult to fully exchange information between trains.Therefore,it is of great practical significance to study the consensus control algorithm of multiple high-speed trains under the event-triggered mechanism.Based on multi-agent consensus technology,the main work of this paper is as follows:(1)This paper systematically summarizes the background and research status of highspeed train and expounds the development of multi-agent.The graph theory,event-triggered mechanism,DoS attack and other related theories are deeply studied to provide theoretical support for the realization of consensus control of multiple high-speed trains.This paper analyzes the force of high-speed train,discusses the advantages and disadvantages of single mass point model and multiple mass point model of high-speed train,and gives the dynamic equations under the two models.(2)The dynamics model of multiple high-speed trains is established and the cooperative control of multiple high-speed trains based on observer and event-triggered mechanism is studied.For the multiple high-speed trains system with unknown input of the leader train,an observe-based event-triggered strategy is proposed and a distributed event-triggered controller is designed to realize the safe and stable operation of the train.The effectiveness of the designed controller is proved theoretically by Lyapunov theory,and the correctness of the theoretical analysis is verified by numerical simulation.(3)The influence of DoS attack on the cooperative operation of multiple high-speed trains is considered in this paper.The process of DoS attack on multiple high-speed trains is explained,and the information confirmation mechanism is used to detect whether the train communication network is attacked by DoS.Based on the dynamics model of multiple highspeed trains,the event-triggered consensus control strategy of train communication network in the presence of DoS attack is proposed,and the piecewise controller under normal and DoS attack is given to realize the effective tracking of the following train to the leader train,which is verified by the simulation experiment. |
