| Summary: | Automatic train operation systems of high-speed trains are critical to guarantee operational safety, comfort, and parking accuracy. However, implementing optimal automatic operation control is challenging due to the train’s uncertain dynamics and actuator saturation. To address this issue, this paper develops a data-driven Koopman model based predictive control method for automatic train operation systems. The proposed control scheme is designed within a data-driven framework. First, using operational data of trains and the Koopman operator, an explicit linear Koopman model is built to characterize the train dynamics. Then, a model predictive controller is designed based on the Koopman model under comfort and actuator constraints. Furthermore, an online update mechanism for the Koopman model is developed to cope with the changing dynamic characteristics of trains, which reduces the accumulation errors and improves control performance. Stability analysis of the closed-loop control system is provided. Comparative simulation results validate the effectiveness of the proposed control approach.
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