On formation control of agents subject to ideal Coulomb friction*

Sensitivity Analysis of Coulomb and HK Friction Models in 2D AFM-Based Nano-Manipulation: Sobol Method

Nanotechnology involves the ability to see and control individual atoms and molecules which are about 100 nanometer or smaller. One of the major tools used in this field is atomic force microscopy which uses a wealth of techniques to measure the topography and investigates the surface forces in nanoscale. Friction force is the representation of the surface interaction between two surfaces an...

Stability of A Class of Relay Feedback Systems Arising in Controlled Mechanical Systems with Ideal Coulomb Friction ⋆

Coulomb friction is inevitable in every mechanical system with contact motion. When the mechanical system with Coulomb friction is under feedback control, it can destabilize the system by generating limit cycles. Controlled mechanical systems with ideal Coulomb friction can be viewed as a particular class of relay feedback systems characterized by the zero DC gain property and the positivity of...

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

Adaptive Pulse Amplitude Pulse Width Control of Systems subject to Coulomb and Viscous Friction

The focus of this paper is on adaptive control of maneuvering rigid bodies in the presence of friction. The paper describes a simple technique which include Pulse Amplitude and Pulse Width modulation to progressively move the system to the desired final position. To account for uncertainty in estimated friction coefficients and approximated system model, an adaptation algorithm is necessary to ...

Evaluating the Soil Bearing Capacity Coefficients by Means of a Finite Element Program Based on Elasto - Plastic Mohr - Coulomb Behavior

A finite element program based on elastic –plastic model of Mohr-Coulomb criterion was used to evaluate the bearing capacity coefficients of soil under shallow strip flexible footing . The results were compared with others’ analytical results and it was found that the present study could offer quite consistent and rather precise values for the bearing capacity coefficients . &#10&#10The effect ...