Logic-based switching control of trains with actuator failures

In this paper a fault-tolerant control system (FTCS) is developed for electric trains with actuator failures. The proposed FTCS is based on a hybrid of static and dynamic redundancies. For the FTCS, a unity high-gain feedback controller is introduced to attain the stabilization and the asymptotic tracking. In addition, to select an appropriate redundancy, a switching logic is designed with the tracking error signal. Therefore, even if the failure is unknown, the logic-based switching can avoid a fatal and inhibitory accident. This paper also shows several numerical simulations to confirm the effectiveness of the FTCS.