Pantograph Catenary Contact Force Regulation Based on Modified Takagi-Sugeno Fuzzy Models


  • Nguyen Van Hai Department of Electrical Engineering, University of Transport and Communications, Vietnam
  • Nguyen Van Tiem Department of Electrical Engineering, University of Transport and Communications, Vietnam
  • Le Hung Lan Department of Electrical Engineering, University of Transport and Communications, Vietnam
  • Thanh Ha Vo Department of Cybernetics, University of Transport and Communications, Vietnam
Volume: 13 | Issue: 1 | Pages: 9879-9887 | February 2023 |


In this paper, a new contact force control technique, based on the modified Takagi-Sugeno model and the parallel distributed compensation concept is developed to suppress vibrations between the pantograph and the catenary by regulating the contact force to a reference value, thereby achieving stable current collection. The proposed method uses simple and standard PID and modified Takagi-Sugeno fuzzy controllers. The two controllers guarantee the designed system's robust stability. Furthermore, based on a simplified pantograph–catenary system model, the comparative simulation results show that variations of the contact force can be almost attenuated. As a result, the system stability is guaranteed, and the performance robustness is verified.


Takagi-Sugeno, Modified T-S-Fuzzy, Pantograph, Stability, Catenary


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How to Cite

N. V. Hai, N. V. Tiem, L. H. Lan, and T. H. Vo, “Pantograph Catenary Contact Force Regulation Based on Modified Takagi-Sugeno Fuzzy Models”, Eng. Technol. Appl. Sci. Res., vol. 13, no. 1, pp. 9879–9887, Feb. 2023.


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