A Novel Adaptive Fault-Tolerant Cooperative Control for Multi-PMLSMs of Low-Carbon Urban Rail Linear Traction Systems

Permanent magnetic linear synchronous motors (PMLSMs) have emerged as a promising solution for low-carbon urban rail transit systems due to their superior energy efficiency. However, their widespread adoption is hindered by significant challenges in achieving high-precision cooperative control and fault-tolerant operation across multi-PMLSMs. To address these issues, this paper proposed a novel composite observer-based adaptive fault-tolerant cooperative control framework, which enables reliable speed synchronization in multi-PMLSM urban rail traction systems through three key innovations. Initially, the stuck fault of the actuator is modeled based on the PMLSM dynamic model, and a composite observer is proposed to estimate lumped disturbances and actuator faults simultaneously, enhancing the system’s robustness against uncertainties and faults. A novel sliding mode control scheme with adaptive parameters is subsequently developed to compensate for disturbances and improve tracking accuracy. Furthermore, two event-triggered schemes are devised to reduce the communication burden, ensuring efficient data transmission without compromising control performance. The proposed method ensures high-precision synchronization and fault tolerance under actuator stuck faults, bias faults, and external disturbances, as validated by simulation results. By improving energy efficiency and reducing communication load, the proposed method contributes to the development of low-carbon urban rail transit systems, aligning with global sustainability goals.