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This paper investigates adaptive parallel simultaneous stabilization (APSS) of a set of uncertain nonlinear port-controlled Hamiltonian (PCH) systems subject to actuator saturation and proposes a number of results on the design of the APSS controllers. First, the case of two PCH systems is studied. Using both the dissipative Hamiltonian structural and saturated actuator properties, the two systems are combined to generate an augmented PCH system, with which, some results on the control designs are then obtained. When there are external disturbances in the two systems, an H 1 APSS controller is designed for the systems. Second, the case of more than two uncertain PCH systems subject to actuator saturation is investigated, and several new results are proposed for the APSS problem. Finally, an illustrative example is presented to show that the adaptive stabilization controllers obtained in this paper work very well.

In this paper, the leader–follower consensus problem is investigated for multi‐agent systems subject to external disturbances generated by heterogeneous nonlinear exosystems. First, the disturbance observers are developed for each follower to effectively estimate the nonlinear disturbances. Then, based on the presented observers, the distributed state and output feedback consensus protocols are proposed to guarantee that the consensus tracking errors converge to zero asymptotically, and meanwhile to reject the nonlinear disturbances. Particularly, the output feedback protocol can be designed and implemented without any global information about the whole network, which means it is fully distributed. Finally, two numerical examples are given to illustrate the effectiveness of the results.