Cooperative Tracking Control of the Multiple-High-Speed Trains System Using a Tunable Artificial Potential Function

Figure 5

The desired speed curve, which is divided into three intervals. The desired speeds within [0, 2000] s, [2000, 4000] s, and [4000, 6000] s are, respectively, 70 m/s, 65 m/s, and 70 m/s.