# 【Paper】2015_Coordinated cruise control for high-speed train movements based on a multi-agent model

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2015_Coordinated cruise control for high-speed train movements based on a multi-agent model

# 2. The dynamic model of high-speed trains and some preliminaries

{ x ˙ i ( t ) = v i ,      i = 1 , 2 , ⋯   , n 1 m i v ˙ i ( t ) = u i − m i ( c i 0 + c i 1 v i ( t ) + c i 2 v i 2 ( t ) ) ,      i = 1 , 2 , 3 , ⋯   , n (2) \left\{\begin{aligned} \dot{x}_i(t) &= v_i, ~~~~ i = 1,2,\cdots, n_1 \\ m_i \dot{v}_i(t) &= u_i - m_i (c_{i0} + c_{i1} v_i(t) + c_{i2} v_i^2(t)), ~~~~ i=1,2,3,\cdots,n \\ \end{aligned}\right. \tag{2}

x i x_i ：表示位置，
v i v_i ：表示速度，
m i m_i ：表示质量，
u i u_i ：表示控制力。

Then the nominal control force in the equilibrium state is
u ˉ i = c i 0 m i + c i 1 m i v r + c i 2 m i v r 2 ,      i = 1 , 2 , ⋯   , n (3) \bar{u}_i = c_{i0} m_i + c_{i1} m_i v_r + c_{i2} m_i v_r^2, ~~~~ i=1,2,\cdots, n \tag{3}

# 3. Coordinated cruise control design

u i ( t ) = u ˉ i + u 1 i ( t ) + u 2 i ( t ) + u 3 i ( t ) (7) u_i(t) = \bar{u}_i + u_{1i}(t) + u_{2i}(t) + u_{3i}(t) \tag{7}

u 1 i ( t ) = m i α ∑ j = 1 n a i j ( v j ( t ) − v i ( t ) ) u 2 i ( t ) = − m i β ∑ j = 1 n a i j ∇ x i U i j u 3 i ( t ) = m i k ( v i ( t ) − v r ) \begin{aligned} u_{1i}(t) &= m_i \alpha \sum_{j=1}^n a_{ij} (v_j(t) - v_i(t)) \\ u_{2i}(t) &= -m_i \beta \sum_{j=1}^n a_{ij} \nabla_{x_i} U_{ij} \\ u_{3i}(t) &= m_i k (v_i(t) - v_r) \end{aligned}

# 4. Numerical simulations

Example 4.1.

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