Double-observer-based consensus of switched positive multiagent systems with switched topologies

This study investigates the consensus of switched positive multiagent systems with switched topologies. Each agent in the system is governed by its own switching law, while the network topology switches according to a separate and independent switching law. Double observers are first designed individually for the state and disturbance. Linear programming and copositive Lyapunov functions are utilized to handle the leader-following consensus of systems with a single leader and multiple leaders. The contributions of this work are as follows. (i) A double-observer framework is established for switched positive multiagents. (ii) The leader-following consensus is solved using a linear approach. (iii) A linear programming-based design approach is proposed for the gain design of observers and control protocols. Finally, an example is provided to demonstrate the validity of the design.