This paper investigates the collaborative de-1 sign problem aiming to achieve state-constrained bipar-2 tite tracking of interconnected robotic systems (IRSs) 3 with prescribed performance. We propose a hierarchi-4 cal state-constrained estimator-based control frame to 5 reduce the complexity of algorithms and improve the 6 adaptation of the tracking control when the robotic-7 s are constrained to physical boundaries and external 8 environment. Without the pre-known tracking trajecto-9 ry, the estimator-based layer can estimate the tracking 10 trajectory at each time interval by the interconnected 11 topology. The position constraints are never violated 12 during the convergence process by designing of control 13 algorithms. The theoretical proof and simulation result-14 s are presented to validate the feasibility of the control 15 algorithms.

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