Pedestrian evacuation in two-dimension via robust feedback control

Pedestrian evacuation is of great importance for people in emergency. Based on the macroscopic pedestrian dynamic model, this paper presents the design of robust feedback controller for pedestrian evacuation in two-dimension. This robust feedback controller can overcome the negative effect of uncertain control input, which meets the requirement of actual control systems. Specifically, above robust controller can keep pedestrians from congestions and collisions. According to Lyapunov redesign method, the controller designed in this paper guarantees the stability of the closed-loop evacuation systems, which makes the system outperform good performances even when the disturbance is added to the system in the simulation.