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

DOI10.1016/j.automatica.2015.08.021zbMath1327.93014OpenAlexW1453072127MaRDI QIDQ900687

Matin Jafarian, Ewoud Vos, Jacquelien M. A. Scherpen, Claudio De Persis, Arjan J. Van der Schaft

Publication date: 22 December 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://research.rug.nl/en/publications/formation-control-of-a-multiagent-system-subject-to-coulomb-friction(3dec947d-2a14-438e-9508-36a0b07627e0).html

zbMATH Keywords

nonsmooth analysismulti-agent systemsdiscontinuous dynamical systemsport-Hamiltonian systems

Mathematics Subject Classification ID

Feedback control (93B52) Design techniques (robust design, computer-aided design, etc.) (93B51) Decentralized systems (93A14) Problems involving a system of particles with friction (70F40)

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Robust stabilization of balanced and splay formations with heterogeneous controller gains

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