Positive Consensus of Multi-Agent Systems with Measurement Errors and Input Saturation

In this paper, the positive consensus problem of multi-agent systems with unknown but bounded measurement errors and input saturation is studied. In the considered system, the upper bounds of the measurement error and input saturation limits of agents are allowed to be different. A consensus protocol based on interval estimator is proposed, which ensures the multiagent system non-negative positive states and control inputs in the process and mitigates the influence of unknown but bounded measurement errors, and avoid triggering input saturation by using small gain method. Due to the existence of measurement errors, the positive consensus of multi-agent systems is hard to be achieved. Therefore, this paper gives the error under the proposed control protocol. Furthermore, the conditions that the positive consensus can be achieved is given. Finally, numerical simulations validate the performance of the proposed consensus protocol.