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With the increasing passenger flow in urban rail transit and the design capacity of existing train control technology tends to be saturated, virtual train formation technology has become one of the research focuses of new urban rail train control technology due to its ability to significantly improve the capacity of existing lines and effectively solve the problem of passenger flow imbalance during a specific time span. But the actual running environment of urban rail transit trains is complex. Trains are affected by basic resistance and unknown additional resistances in the lines. At the same time, the end-to-end communication mode adopted between train consists causes communication delays, making trains within the consist unable to obtain real-time data from currently communicating trains, which affects consist running safety. To solve the above problems, this paper proposes a train consist cooperative control method based on the "leader-follower" consist control model and dynamic consist interval control strategy with fixed headway. A state delay correction observer is designed to estimate the actual state of the trains to ensure consist running safety, in view of communication delays within the consist. Finally, a distributed sliding model controller is designed to ensure the coordinated running of the consist.
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