Distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems with unknown control directions

This paper investigates the distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems (MASs) with unknown directions and time-varying actuator faults under directed graph. Firstly, an auxiliary filter network is constructed to estimate output of leader. Then, by introducing a state transformation function, asymmetric constraints on agents’ outputs can be achieved unconstrained initial conditions. Furthermore, based Nussbaum-type controller designed utilizing generalized error MASs caused faults. The proposed scheme guarantee that all signals in closed-loop system are bounded asymptotic achieved. Finally, simulation example illustrates effectiveness strategy.