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

Figure 5

The speed tracking errors of MHSTs using different fault-tolerant control methods. (a) The speed tracking error of train 1. (b) The speed tracking error of train 2. (c) The speed tracking error of train 3. (d) The speed tracking error of train 4.

(a)

(b)

(c)

(d)