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

Research output: Contribution to journalArticleAcademicpeer-review


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 languageEnglish
Pages (from-to)253-262
Number of pages10
Issue number11
Publication statusPublished - 1 Nov 2015
Externally publishedYes


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


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