LAUSR

With considering the uncertainties and nonlinearities, the position/velocity tracking control of high-speed train (HST) with redundancy actuators is investigated in this paper. Unlike the existing methods that focus on the actuator partial failure (APF), the actuator complete failure (ACF) is considered. A fractional-order controller (FOC) without a switching process is developed to achieve stable position/velocity tracking control with considering the ACF. And the established controller cannot only tackle the ACF without any fault detection process, but also compensate for uncertainties and nonlinearities of the system, improve the system in tracking accuracy and suppress disturbances caused by internal and external factors. Besides, the influence of different fractional orders on the control performance is analyzed theoretically, providing a basis for the choice of orders. Lyapunov stability theory and fractional order theory are employed to verify the effectiveness of FOC, and simulation studies show the consistency with theoretical analysis. The influence of different fractional orders is also tested in simulation, and further compared with traditional PID controller. It can be concluded that although either PID or FOC are able to cope with the system nonlinearities and uncertainties as well as ACF, there is great significance in FOC research for the promotion of control precision and robustness as well as anti-jamming ability.