Li, Jiawei (Beihang University), Tian, Daxin (Beihang University), Duan, Xuting (Beihang University), Zhou, Jianshan (Beihang University), Zhao, Dezong (University of Glasgow), Cao, Dongpu (Tsinghua University)

A Hierarchical Optimal Control Approach for Synchronous and Precise Arrival of Virtual Coupling Trains under Disturbances

Scheduled for presentation during the Video Session "On-Demand Video Presentations" (VP-VP), Saturday, November 22, 2025, 08:00−18:00, On-Demand Platform

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on April 2, 2026

Abstract

The virtual coupling (VC) operation of trains consists of multiple stages, with the arrival stage playing a crucial role in influencing safety and efficiency. To achieve the precise arrival and docking of the virtually coupled train set (VCTS) under disturbances, this paper presents a hierarchical optimal control method consisting of a dual-layer framework. In the upper level, bidirectional control is used to coordinate the operation of the train set, enhancing the synchronization and accuracy of the actions of the VCTS during the arrival process and generating the optimal trajectory plan. In the lower level, Linear Quadratic Gaussian (LQG) optimal control is applied to track the planned trajectory, while simultaneously handling the effects of disturbances, ensuring the timely arrival of VCTS as scheduled. Additionally, the string stability of the VCTS cooperative operation has been numerically validated. The experimental results demonstrate that the bidirectional control-based coordinated trajectory planning significantly enhances the synchronicity of arrival, while the proposed hierarchical optimal control method demonstrates robust performance under various disturbance conditions.