A Novel Controller Based on Fuzzy Sliding Mode Control for Train Speed Tracking

The train operation process is characterized by strong coupling and nonlinearity, often accompanied by significant and unobservable external disturbances, which makes train operation control a challenging task. To address these problems, a new design method of the fuzzy sliding mode controller is proposed for the train operation speed tracking control. Firstly, the global fast terminal sliding mode control is introduced to enable the system to reach a steady state in finite time. Then, an adaptive disturbance estimation term is created, which is compensated by the absolute value of the derivative of the Lyapunov function. And a double-layer hierarchical and exponential reaching law global fast terminal fuzzy sliding mode controller is proposed, where the exponential reaching law is introduced to regulate the dynamic quality of the sliding mode surface, this controller can quickly converge to the stable state and effectively eliminate the chattering of the controller. Finally, the proposed method is verified through simulation experiments, demonstrating its effectiveness in improving the train operation control performance.