Train Velocity Tracking Control with Considering Wheel-Rail Adhesion

  • Zhechen Wang
  • Yingmin JiaEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


Velocity tracking plays a key role in train safe operation. Furthermore, the complex relation between wheels and rail affects velocity tracking. How to obtain a precise tracking algorithm with considering wheel-rail adhesion is a hard problem. This paper designs controllers in two cases respectively. The first algorithm is obtained based on the known wheel-rail adhesion model, while the second one is given with considering the unknown parameters of adhesion model. The simulation results comfirm the availability of the proposed controllers.


Velocity tracking Wheel-rail adhesion Uncertainties Sliding mode control 



This work was supported by the NSFC (61327807, 61521091, 61520106010, 61134005) and the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical EngineeringBeihang University (BUAA)BeijingChina

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