On designing of leader-follower impedance consensus controllers for Lagrangian multi-agent systems
In this study, an impedance consensus algorithm is presented for leader-following Lagrangian Multi-Agent Systems (MASs) with directed communication topology in the Input-to-State stability (ISS) sense. A general class of nonlinear impedance surfaces based on damped Lagrangian systems are introduced in which the followers are shown to achieve the impedance consensus in finite time, which means the dynamic behavior of the followers reach the desired impedance surface provided that a directed spanning tree exists in the communication topology. This surface is the interactive behaviors of the agents with their contacting environments. Finally, it is proved that the proposed method solves the position and velocity consensus in the leader-follower MASs on desired impedance surface with ISS sense through sliding mode control method.
The computer controlled Laserthermia system by the method of using double ::: channel endoscope with the contact frosted probe and a thermocouple was reported ::: previously.25 In this paper, the single channel method with the new single ::: laser delivery system was studied experimentally. Especially hyperthermal effect ::: by the newly developed Hybrid Laserthermia feedback probe(Hybrid probe) was discussed ::: comparatively with the effects by the interstitial contact probe. The Hybrid ::: probe could be possible to treat clinically more accurate Laserthermia in ::: the near future.