Semi-global observer-based nonnegative edge-consensus of linear discrete-time multi-agent systems with nonnegative constraint and input saturation

Abstract This paper studies the observer-based edge-consensus of linear discrete-time multi-agent systems on undirected networks, in which the state of each edge is subject to nonnegative constraint, and the input of each edge is limited by actuator saturation. By utilizing the MARE-based low-gain output feedback method and the positive system theory, the observer-based edge interacting algorithm is developed to guarantee the nonnegative edge-consensus. Meanwhile, the sufficient conditions are found to guarantee the nonnegative edge-states and the bounded control input. In addition, the edge-consensus protocol and the sufficient conditions do not use the global information of communication network, which are only dependent on the edge number and the vertex number of communication network. Finally, a case is developed to verify the effectiveness and feasibility of the theoretical result.

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