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

Onderzoeksoutput: Contribution 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.
Originele taal-2English
TitelProceedings of the 21th International Symposium on Mathematical Theory of Networks and Systems (MTNS)
Aantal pagina's4
StatusPublished - 2014
Extern gepubliceerdJa


  • Coulomb-wrijving
  • hamiltoniaanse systemen
  • controlesystemen


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