On formation control of agents subject to ideal Coulumb friction

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

Research output: Chapter in Book/Report/Conference proceedingContribution to conference proceedingAcademicpeer-review


This paper deals with the formation control of agroup of point masses subject to ideal Coulomb friction. Wepropose a discontinuous controller which provides a solution tothe exact formation problem in the presence of ideal Coulombfriction.
Original languageEnglish
Title of host publicationProceedings of the 21th International Symposium on Mathematical Theory of Networks and Systems (MTNS)
Number of pages4
Publication statusPublished - 2014
Externally publishedYes


  • Coulomb friction
  • hamiltonian-systems
  • control systems


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