Adaptive Sliding Mode Control Strategy for High-Speed Train Platoon Under Jointly Connected Switching Topologies

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Abstract
This study addresses the issue of communication link interruptions in train platoon control under the complex operating environment of high-speed railways. An adaptive trajectory tracking control approach based on a finite-time sliding mode is proposed under jointly connected switching topologies. The proposed framework ensures platoon consensus under jointly connected switching topologies, where the leader’s information need not reach all followers in each topology but only collectively over a finite interval, thus relaxing connectivity requirements and enhancing practicality. Within this framework, the sliding surface is designed to incorporate relative error signals determined by the communication topology, and an adaptive mechanism is employed to effectively handle unknown external disturbances without requiring prior knowledge of their bounds or derivatives. Simulation results demonstrate that, compared with MPC and non-adaptive approaches, the proposed strategy reduces position errors by approximately 80% and velocity errors by around 40%, significantly improving platoon tracking accuracy. Furthermore, simulations under both periodic and random topology switching indicate that periodic switching achieves performance closer to that of a fully connected topology, further enhancing trajectory tracking effectiveness.
Funding Information
  • Fundamental Research Funds for the Central Universities (2025YJS161)
  • National Natural Science Foundation of China (52272329)
  • National Natural Science Foundation of China (52372309)
  • National Natural Science Foundation of China (U2468208)
  • National Natural Science Foundation of China (U22A2046)
  • Beijing Municipal Natural Science Foundation (L251033)
  • Fundamental Research Funds for the Central Universities (2025JBXT011)

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