Practical consensus of T-S fuzzy positive multi-agent systems using linear programming

This paper presents the practical consensus of T-S fuzzy positive multi-agent systems with interval type-1 and type-2 fuzzy sets using observer-based control protocols. A fuzzy positive observer is first constructed for the systems. An observer-based fuzzy control protocol is designed, where an additional constant term is introduced. Some linear programming conditions are established to achieve the positivity of the original system and its observer. Then, the practical consensus of the original system is transformed into the stability of a dynamic system, where a set of new variables is defined by combining the constant term and the states of the agents. In the first step, the positivity of the new variables is guaranteed. In the second step, the stability of the dynamic system consisting new variables is addressed by using a fuzzy copositive Lyapunov function. The gain matrices of observer and control protocols are formulated based on a matrix decomposition approach. All positive and consensus conditions are described via linear programming. Finally, two examples are provided to verify the validity of the obtained results.