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