Controlling Uncertain Swarm Mechanical Systems: A $\beta$-Measure-Based Approach

We consider an artificial swarm mechanical system consisting of multiple agents. The agents are composed of mechanical components. The ideal kinematic performance includes mutual attractions and repulsions. This kinematic performance is embedded into the dynamics by being treated as a constraint. The Udwadia-Kalaba theory is then used to generate the required servo constraint force to assure the constraint is met for the nominal system. The...