Fuzzy Sliding Mode Control for Tracking the Optimal profile of Train Speed in the Presence of Uncertainty

Considering that the traction system is main factor of energy consumption in the train, and amount of force required for moving the train is directly related to its speed, therefore, the optimal profile selection for the speed of the train movement, in the path between the stations and the design of the controller for accurate tracing The optimal profile of the train speed, can be a determinant of the amount of energy consumed. Control of a train includes the non-linear, uncertainty and external disturbances terms that should be considered in the design of control rules. In this thesis, we present a control strategy for tracking optimal profile of train speed, based on the fuzzy sliding mode control (FSMC). The main motive of use the Sliding Mode Control (SMC), in non-linear systems, its resistance to parametric uncertainties, unmodeled dynamics, external disturbances and as well as the simplicity of its design. However, the occurrence of chattering phenomenon is the most important limiting factors the use of this control method. In this thesis to remove the chattering, fuzzy control is used to estimate the reaching control signal and the stability of the entire system is also guaranteed on the basis of the Lyapunov stability theorem Numerical simulations using the nonlinear dynamics model of the train, despite the uncertainty and disturbance, and comparing it with the conventional SMC, show the effectiveness of the FSMC method in tracing the optimal train speed profile