# Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks

arXiv: https://arxiv.org/abs/1804.08986 · HTML: https://mlsanity.com/paper/1804.08986/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Apr 2018.

## Built on by (most cited first, 1 of 1)

- [RockNet: Distributed Learning on Ultra-Low-Power Devices](https://mlsanity.com/paper/2510.13320/) (2025)

## Abstract (arXiv)

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that 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. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds.