Formation control of a multi-agent system subject to Coulomb friction

• Published in: Automatica (Oxford) Vol. 61; pp. 253 - 262
• Main Authors: Jafarian, Matin, Vos, Ewoud, De Persis, Claudio, van der Schaft, Arjan J., Scherpen, Jacquelien M.A.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.11.2015
• Subjects: Discontinuous dynamical systems; Multi-agent systems; Nonsmooth analysis; Port-Hamiltonian systems; Nonsmooth analysis; Port-Hamiltonian systems; Discontinuous dynamical systems; Multi-agent systems

This paper considers the formation control problem for a network of point masses which are subject to Coulomb friction. A dynamical model including the planar discontinuous friction force is presented in the port-Hamiltonian framework. Moreover, continuous and discontinuous controllers are designed...