Model-follower longitudinal control for automated guideway transit vehicles

An approach for the design of longitudinal control systems for automated transit vehicles using the vehicle-follower control concept is presented. It is shown that the spacing policy selected for system operations generates a dynamic model for ideal vehicle response during station keeping. The longitudinal control system should force the actual vehicle response to be as close to this model response as possible. Two model-following controller designs are discussed. In one design the command from the controller is acceleration, and in the other design the command from the controller is jerk. The acceleration- and jerk-limited dynamic response of both controllers is examined by the use of describing functions and by computer simulations.