This paper considers the positive consensus for a class of multi-agent systems (MASs) with average dwell time (ADT) switching. First, sufficient and necessary conditions are derived for preserving the positivity of the closed-loop MASs. Second, the performance analysis of the consensus error system is accomplished by using the multiple Lyapunov functions (MLFs) approach, and an ADT switching technique designs the corresponding controlled switching signal. Then, both leaderless and leader-following positive consensus are achieved. Furthermore, to reduce the computational complexity, a novel leader-following positive consensus criterion is derived in the form of linear programming (LP). Finally, simulation examples are given to illustrate the effectiveness of the proposed method.

本文考虑了一类具有平均停留时间 (ADT) 切换的多智能体系统 (MAS) 的积极共识。首先，推导出了保持闭环 MAS 积极性的充分必要条件。其次，通过使用多李雅普诺夫函数（MLFs）方法完成共识误差系统的性能分析，并通过ADT切换技术设计相应的受控切换信号。然后，实现了无领导者和领导者跟随的积极共识。此外，为了降低计算复杂度，以线性规划（LP）的形式导出了一种新颖的领导者跟随积极共识标准。最后，给出仿真实例来说明所提出方法的有效性。