Event-Triggered Consensus Control for High-Speed Train With Time-Varying Actuator Fault

In this paper, the second-order consensus issue of single high-speed train under event-triggered control is studied.First, the dynamics of single high-speed train (HST) is modeled by a cascade of carriages connected by flexible couplers.Then, we propose a novel event-triggering control strategy that doesn't require continuous communication between carriages, thus can save communication and computing resources effectively.Furthermore, by constructing Lyapunov function, sufficient criteria are obtained to ensure the stability and effectiveness of the system.Besides, all carriages in this high-speed train system exclude Zeno behavior.On this basis, the active fault-tolerant control law of the system and the fault detection accuracy are also discussed when the actuator faults.Some examples are finally given to illustrate the effectiveness of theoretical results.