Optimal Utilization of Adhesion Force for Heavy-Haul Electric Locomotive Based on Extremum Seeking with Sliding Mode and Asymmetric Barrier Lyapunov Function

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2019/6270515/figures/6270515.fig.0021a.svgz" name="6270515.fig.0021a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Sliding mode controller</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2019/6270515/figures/6270515.fig.0021b.svgz" name="6270515.fig.0021b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>ABLF controller</td></tr></table>

Journal of Advanced Transportation

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Figure 21

Figure 21: Optimal Utilization of Adhesion Force for Heavy-Haul Electric Locomotive Based on Extremum Seeking with Sliding Mode and Asymmetric Barrier Lyapunov Function 

Figure 21 | Optimal Utilization of Adhesion Force for Heavy-Haul Electric Locomotive Based on Extremum Seeking with Sliding Mode and Asymmetric Barrier Lyapunov Function 