The invention discloses a cooperative operation control method for a high-speed train group containing malicious agents. The cooperative operation control method comprises the following steps: S1, establishing a dynamic model of each train in the train group; s2, constructing a cooperative control law containing a potential function; s3, modeling is carried out on a malicious agent; s4, estimating unknown control parameters contained in the malicious agent by adopting a self-adaptive control algorithm and a low-pass filter; s5, the trains are layered according to whether the trains in the train group are adjacent to the malicious agent train or not; s6, constructing a controller of a train adjacent to the malicious agent; and S7, constructing a controller of a train which is not adjacent to the malicious agent in the train group. According to the method, the destructive influence of a malicious agent on the train formation can be effectively inhibited when the malicious agent deliberately disturbs the system, the normal cooperative operation of the trains is kept, the operation efficiency and the overall cooperative capability of the trains are improved, and the safety and the stability are enhanced.
本发明公开了一种含恶意智能体的高速列车群协同运行控制方法,包括以下步骤:S1、建立列车组中各列车的动力学模型;S2、构建包含势函数的协同控制律;S3、对恶意智能体进行建模;S4、采用自适应控制算法和低通滤波器估计恶意智能体中含有的未知控制参数;S5、根据列车组中列车是否与恶意智能体列车相邻,对列车进行分层;S6、构建与恶意智能体相邻的列车的控制器;S7、构建列车组中不与恶意智能体相邻的列车的控制器。本发明能够在恶意智能体故意干扰系统时有效抑制其对列车编队的破坏性影响,保持列车的正常协同运行,提高了列车的运行效率和整体协同能力,并增强了安全性和稳定性。
Cooperative operation control method for high-speed train group containing malicious agent
一种含恶意智能体的高速列车群协同运行控制方法
2025-04-22
Patent
Electronic Resource
Chinese
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