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

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

doi:10.1016/j.automatica.2015.08.021

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

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

University of Groningen, Engineering and Technology Institute (ENTEG)
University of Groningen, Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence

Research output: Contribution to journal › Article › Academic › peer-review

Abstract

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 in order to achieve a desired prescribed formation. The main results are derived using tools from nonsmooth Lyapunov analysis. It is shown that the continuous static feedback controller fails to achieve the exact formation, while the discontinuous controller achieves the desired task exactly. Numerical simulations are provided to illustrate the effectiveness of the approach. (C) 2015 Elsevier Ltd. All rights reserved.

Original language	English
Pages (from-to)	253-262
Number of pages	10
Journal	Automatica
Volume	61
Issue number	11
DOIs	https://doi.org/10.1016/j.automatica.2015.08.021
Publication status	Published - 1 Nov 2015
Externally published	Yes

Keywords

discontinuous dynamical systems
nonsmooth analysis
multi-agent systems
port-hamiltonian systems
hamiltonian-systems
coordination
consensus
passivity

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title = "Formation control of a multi-agent system subject to Coulomb friction",

abstract = "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 in order to achieve a desired prescribed formation. The main results are derived using tools from nonsmooth Lyapunov analysis. It is shown that the continuous static feedback controller fails to achieve the exact formation, while the discontinuous controller achieves the desired task exactly. Numerical simulations are provided to illustrate the effectiveness of the approach. (C) 2015 Elsevier Ltd. All rights reserved.",

keywords = "discontinuous dynamical systems, nonsmooth analysis, multi-agent systems, port-hamiltonian systems, hamiltonian-systems, coordination, consensus, passivity, coordinatie, consensus, passiviteit, hamiltoniaanse systemen, port-hamiltoniaanse systemen, multi-agent systemen, niet-gladde analyse, discontinue dynamische systemen",

author = "Matin Jafarian and Ewoud Vos and {De Persis}, Claudio and {van der Schaft}, {Arjan J.} and Scherpen, {Jacquelien M. A.}",

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AU - Jafarian, Matin

AU - Vos, Ewoud

AU - De Persis, Claudio

AU - van der Schaft, Arjan J.

AU - Scherpen, Jacquelien M. A.

N1 - DBLP License: DBLP's bibliographic metadata records provided through http://dblp.org/ are distributed under a Creative Commons CC0 1.0 Universal Public Domain Dedication. Although the bibliographic metadata records are provided consistent with CC0 1.0 Dedication, the content described by the metadata records is not. Content may be subject to copyright, rights of privacy, rights of publicity and other restrictions.

PY - 2015/11/1

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N2 - 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 in order to achieve a desired prescribed formation. The main results are derived using tools from nonsmooth Lyapunov analysis. It is shown that the continuous static feedback controller fails to achieve the exact formation, while the discontinuous controller achieves the desired task exactly. Numerical simulations are provided to illustrate the effectiveness of the approach. (C) 2015 Elsevier Ltd. All rights reserved.

AB - 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 in order to achieve a desired prescribed formation. The main results are derived using tools from nonsmooth Lyapunov analysis. It is shown that the continuous static feedback controller fails to achieve the exact formation, while the discontinuous controller achieves the desired task exactly. Numerical simulations are provided to illustrate the effectiveness of the approach. (C) 2015 Elsevier Ltd. All rights reserved.

KW - discontinuous dynamical systems

KW - nonsmooth analysis

KW - multi-agent systems

KW - port-hamiltonian systems

KW - hamiltonian-systems

KW - coordination

KW - consensus

KW - passivity

KW - coordinatie

KW - consensus

KW - passiviteit

KW - hamiltoniaanse systemen

KW - port-hamiltoniaanse systemen

KW - multi-agent systemen

KW - niet-gladde analyse

KW - discontinue dynamische systemen

U2 - 10.1016/j.automatica.2015.08.021

DO - 10.1016/j.automatica.2015.08.021

M3 - Article

SN - 1873-2836

VL - 61

SP - 253

EP - 262

JO - Automatica

JF - Automatica

IS - 11

ER -

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

Abstract

Keywords

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