Online Accurate Estimation of the Wheel-Rail Adhesion Coefficient and Optimal Adhesion Antiskid Control of Heavy-Haul Electric Locomotives Based on Asymmetric Barrier Lyapunov Function

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2018/2740679/figures/2740679.fig.0013a.svgz" name="2740679.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>ABLF control</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2018/2740679/figures/2740679.fig.0013b.svgz" name="2740679.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>SMC control</td></tr></table>

<div>Given value and actual value of the creep speed.</div>

Journal of Sensors

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Figure 13

Figure 13: Online Accurate Estimation of the Wheel-Rail Adhesion Coefficient and Optimal Adhesion Antiskid Control of Heavy-Haul Electric Locomotives Based on Asymmetric Barrier Lyapunov Function 

Figure 13 | Online Accurate Estimation of the Wheel-Rail Adhesion Coefficient and Optimal Adhesion Antiskid Control of Heavy-Haul Electric Locomotives Based on Asymmetric Barrier Lyapunov Function 