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A Nonlinear State Feedback Control Approach for a Pantograph-Catenary System

Abstract : In this paper, a nonlinear approach is proposed for the control and state estimation of the Pantograph-Catenary system in order to maintain the contact force at a constant level. Assuming that the measures of the contact force and the train velocity are both available, we estimate the states by means of a robust nonlinear observer constructed by the incorporation of a robust sliding mode term in the Extended Kalman Filter (EKF). Secondly, we use a Feedback Linearization method to transform the original nonlinear plant into its equivalent linear one. The obtained feedback linearized system can be controlled with a large number of linear approaches that can be tuned according to the specification requirements. Using these theoretical elements, we apply a observer-based linear quadratic regulator (LQR) in order to stabilize the system and solve the reference tracking problem. The simulation results demonstrate the effectiveness of this method.
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Submitted on : Thursday, December 12, 2013 - 4:12:08 PM
Last modification on : Friday, October 8, 2021 - 4:28:11 PM



Celso Koiti Ide, Sorin Olaru, Pedro Rodriguez-Ayerbe, Ahmed Rachid. A Nonlinear State Feedback Control Approach for a Pantograph-Catenary System. 17th International Conference on System Theory, Control and Computing (ICSTCC 2013) , Oct 2013, Sinaïa, Romania. pp.268-273, ⟨10.1109/ICSTCC.2013.6688971⟩. ⟨hal-00917898⟩



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