Tracking control of disturbed crowd dynamic system using unit sliding mode control and feedback linearization

• Published in: Nonlinear dynamics Vol. 98; no. 3; pp. 2247 - 2260
• Main Authors: Qin, Wei, Cui, Baotong, Lou, Xuyang
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.11.2019; Springer Nature B.V
• Subjects: Actuation; Automotive Engineering; Classical Mechanics; Control; Control stability; Control systems design; Dynamic stability; Dynamical Systems; Engineering; Feedback linearization; Flow-density-speed relationships; Free flow; Mechanical Engineering; Original Paper; Pedestrians; Sliding mode control; Tracking control; Vibration; Feedback linearization; Tracking control; Disturbed crowd dynamic system; Distributed parameter system; Sliding mode control
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-019-05323-9

Based on the conservation law of mass, a distributed parameter system is constructed to describe the disturbed crowd dynamics. To deal with the non-directionality of crowd movement, the free flow speed is considered as a control variable, and the actuation system will guide pedestrians to change their speed and moving direction. Unit sliding mode control is used to eliminate disturbances and stabilize the crowd dynamic system to a reference density. Since the sliding mode control may cause chattering phenomenon, a second-order unit sliding mode controller is designed for the crowd dynamic system. Conditions for stability of the crowd dynamic system with the controllers are established. Finally, numerical examples illustrate the effectiveness of the proposed method.