In this paper, we consider the observer-based adaptive consensus tracking problem for a class of nonlinear time-delay multi-agent systems in the presence of input saturation. Under the assumption that the communication topology is directed and connected, a distributed adaptive consensus controller is developed based on the dynamic surface control technique. By constructing the nonlinear observer, the unmeasurable agents dynamics can be estimated. Input saturation problem is solved by a smooth function combined with an auxiliary variable. With the help of prescribed performance functions, the synchronization errors converge to the prescribed sets, which are characterized as a neighborhood of zero. According to Lyapunov stability theory, it is shown that with the proposed distributed consensus tracking approach, the consensus errors are cooperatively semi-globally uniformly ultimately bounded. Finally, a simulation example is provided to show the effectiveness of the proposed algorithm.

Summary In this paper, the consensus tracking problem is investigated for stochastic nonlinear multiagent systems with full state constraints and time delays. The barrier Lyapunov functions proposed for single‐agent constrained systems are constructively extended to solve the consensus problem for multiagent systems with the full state constraints. Some Lyapunov‐Krasovskii functionals are introduced to compensate for state time delays, which are inherent in the complicated nonlinear systems. Based on the variable separation technique, the difficulty arising from the nonstrict‐feedback structure is overcome. Under a directed communication topology, the distributed neuroadaptive control protocols are proposed to guarantee that all the follower agents follow the trajectory of the leader agent and the full state constraints are not violated. The effectiveness of the proposed distributed adaptive control approach is verified via simulation examples.

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