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Cyber-Phys. Syst."],"published-print":{"date-parts":[[2020,4,30]]},"abstract":"<jats:p>Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. Thus far, however, feedback control over multi-hop low-power wireless networks has only been demonstrated for update intervals on the order of seconds. To fill this gap, this article presents a wireless embedded system that supports dynamic mode changes and tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics in the presence of mode changes. Using experiments on a cyber-physical testbed with 20 wireless devices and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination with mode changes over multi-hop networks for update intervals of 20 to 50 milliseconds.<\/jats:p>","DOI":"10.1145\/3361846","type":"journal-article","created":{"date-parts":[[2019,11,18]],"date-time":"2019-11-18T13:01:53Z","timestamp":1574082113000},"page":"1-32","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":14,"title":["Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees"],"prefix":"10.1145","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7340-2180","authenticated-orcid":false,"given":"Dominik","family":"Baumann","sequence":"first","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fabian","family":"Mager","sequence":"additional","affiliation":[{"name":"TU Dresden, Dresden, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Romain","family":"Jacob","sequence":"additional","affiliation":[{"name":"ETH Zurich, Zurich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lothar","family":"Thiele","sequence":"additional","affiliation":[{"name":"ETH Zurich, Zurich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco","family":"Zimmerling","sequence":"additional","affiliation":[{"name":"TU Dresden, Dresden, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sebastian","family":"Trimpe","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2019,11,16]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3019612.3019710"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/INDIN.2011.6034912"},{"key":"e_1_2_1_3_1","volume-title":"Proceedings of the International Conference on Embedded Wireless Systems and Networks (EWSN\u201919)","author":"Nahas Beshr Al","year":"2019"},{"key":"e_1_2_1_4_1","volume-title":"Moore","author":"Anderson Brian D. 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