Taking into account the cylindrical boundary, a theoretical investigation has been made for the low frequency electrostatic waves in an electron-positron-ion plasma waveguide. The dispersion relation of ion-acoustic (IA) wave is obtained, and a predication for the linear interaction phenomenon of small-amplitude cylindrical IA solitons is presented. It is shown that the cylindrical boundary has significant effects on the dispersion property of IA waves, and the frequency for short wave is significantly modified by the plasma parameters. It has also been noted that cylindrical IA solitons add up linearly when they overlap and penetrate through each other, the maximum amplitude of the overlapping soliton is nearly the sum of the individual soliton amplitude, indicating an apparent linear interaction. Furthermore, the relationships between phase delay and kinetic energy of colliding solitons for an axisymetric cylindrical geometry are derived and discussed in detail. The work presented would be useful to enrich the solitons interaction theory in astrophysical and laboratorial plasma situations.