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

Onderzoeksoutput: Article › Academic › peer review

Samenvatting

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.

Originele taal-2	English
Pagina's (van-tot)	253-262
Aantal pagina's	10
Tijdschrift	Automatica
Volume	61
Nummer van het tijdschrift	11
DOI's	https://doi.org/10.1016/j.automatica.2015.08.021
Status	Published - 1 nov. 2015
Extern gepubliceerd	Ja

Keywords

coordinatie
consensus
passiviteit
hamiltoniaanse systemen
port-hamiltoniaanse systemen
multi-agent systemen
niet-gladde analyse
discontinue dynamische systemen

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10.1016/j.automatica.2015.08.021Licentie: Unspecified

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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.",

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AU - Scherpen, Jacquelien M. A.

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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

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JO - Automatica

JF - Automatica

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ER -

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

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Keywords

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