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 2

Parameters of three types of rail surfaces.

Rail surface	Optimal creep speed	Adhesion coefficient
Dry	0.2 m/s	0.29
Wet	0.085 m/s	0.16
Snow	0.153 m/s	0.06