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In this paper, a distributed cruise control strategy for trains in virtual coupled is proposed. This control strategy is designed by integrating adaptive control with cooperative control to deal with the formation problem for trains with uncertainties, based on multi-agent system theory. External disturbance can be estimated by a distributed observer while parameter uncertainties can be adaptively estimated. Potential function is designed to ensure that state constraints, namely the restrict of the distances between the neighboring trains in the virtually coupled train formation, won’t be violated. This distributed control method enables all trains to track the desired trajectory without collision, whether the train can directly receive the reference information. Numerical examples are discussed to demonstrate the effectiveness of the proposed control method.
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