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The system reachability set is calculated by covering all possible behaviours of the system through a finite number of simulation steps to ensure that the system trajectory stays within a set safety region. In this paper, the theory of the game method is applied to the design of the controller, a very small controller is designed, and good control results are obtained by simulation. The system gradually shows a divergent trend and cannot achieve stable control. A multihop channel reservationdoi:10.1155/2021/9924291 fatcat:5hex7vu2qbdzbfxfjbjvj3ho7y