LQR Active Control of Fractional-Order Pantograph-Catenary System Based on Feedback Linearization

Table 4

Statistical comparison between the two control methods (v = 250 km/h).

(a) Statistical comparison of pantograph-catenary contact force.
Control modes	Max/N	Min/N	Mean/N	STD
Passive control	167.14	46.21	98.46	20.74
Feedback linearized LQR active control	131.59	42.29	85.10	15.97
PID control	137.24	63.69	92.40	14.25
(b) Statistical comparison of pantograph head displacement.
Passive control	0.064	0.013	0.035	0.013
Feedback linearized LQR active control	0.051	0.012	0.030	0.009
PID control	0.051	0.016	0.033	0.010
(c) Statistical comparison of active control force.
Feedback linearized LQR active control	99.02	66.48	86.49	6.47
PID active control	202.98	-92.92	93.07	64.27