Observer-Based PID Control Protocol of Positive Multi-Agent Systems

Abstract

This paper proposes the observer-based proportional-integral-derivative control of positive multi-agent systems. First, a positive observer is constructed for the considered multi-agent systems in terms of a matrix decomposition approach. Then, a novel proportional-integral-derivative protocol framework is proposed based on an improved observer. By using copositive Lyapunov function, the positivity and consensus of the multi-agent systems are achieved. The corresponding observer and control protocol gain matrices are designed in terms of linear programming. Moreover, the proposed design is developed for heterogeneous positive multi-agent systems. The main contributions of this paper include the following: (i) A positive observer is constructed to estimate the states of positive multi-agent systems; (ii) A novel observer-based proportional-integral-derivative protocol is designed to handle the consensus problem of positive multi-agent systems; and (iii) The presented conditions are solvable in terms of linear programming and the gain matrices can be constructed based on a matrix decomposition technology. Finally, two illustrative examples are provided to verify the effectiveness of the design.