Positive Consensus for Heterogeneous Multi-Agent Systems Over Jointly Connected Graphs

This paper studies the leader-following positive consensus for a group of heterogeneous multi-agent systems. The followers’ dynamics are allowed to be mutually different from each other and also the leader, while the communication graph is not required to be fixed or connected. To tackle this problem, we first present an extended distributed observer for positive multi-agent systems. By constructing a novel weak common linear copositive Lyapunov function (CLCLF), we show its effectiveness by rigorous proofs over jointly connected switching networks. Then, with the aid of the presented positive observer, we propose distributed controllers for the followers to reach the expected positive consensus with disturbance rejection. Finally, a numerical simulation is provided to illustrate the effectiveness of our proposed design.