Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

<div>The TACTC without AW: (a) the tracking curve of total traction torque amount, (b) the tracking error curve of total traction torque amount.</div>

Journal of Advanced Transportation

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Figure 4

Figure 4: Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives 