Distributed Cooperative Sliding Mode Fault-Tolerant Control for Multiple High-Speed Trains Based on Actor-Critic Neural Network

Table 2

The comparison of position interval and speed tracking errors.

Evaluation index		ASMFTC	AFSMFTC	Proposed method
	RMSE	0.1038	0.2078	0.0213
	MAE	0.0282	0.0631	0.0102
	RMSE	0.8275	1.0825	0.2535
	MAE	0.3059	0.2856	0.0354
	RMSE	0.0653	0.2542	0.0098
	MAE	0.0209	0.0801	0.0036
	RMSE	0.8984	1.443	0.2292
	MAE	0.3116	0.4355	0.0368
	RMSE	0.0751	0.2679	0.0468
	MAE	0.0187	0.1233	0.0351
	RMSE	0.8598	0.959	0.2263
	MAE	0.3417	0.2865	0.0563
	RMSE	0.0859	0.242	0.0126
	MAE	0.0339	0.0845	0.0076
	RMSE	1.0305	1.6455	0.2584
	MAE	0.3188	0.4911	0.0532