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

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