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For input-delayed mechanical system with input amplitude constraints, the consensus control problem of multi-agent system (MAS) based on directed graph topology is studied. For scenarios where only some agents can receive the desired signal, an observer is proposed to enable each agent to observe the desired signal, with exponential convergence of the observation error being proven. In the controller design, the system's input integral in fed back to the controller to eliminate the effects of input delay. By combining the input integral method with the hyperbolic tangent function, the input amplitude in limited while addressing the input delay issue. The FMINCON function in used to optimize the control parameters. Finally, the Lyapunov method in utilized to prove the achievement of control objectives and the asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed observer and controller n achieving system consensus control. [ABSTRACT FROM AUTHOR]

In this study, consensus tracking control is considered for a class of nonlinear second-order multi-agent systems in an undirected communication topology subject to input magnitude and rate constraints (MRCs). Initially, the control inputs are designed directly using the smooth hyperbolic tangent function. Subsequently, some auxiliary signals are developed to guarantee input rate constraints simultaneously. By employing the backstepping method, the proposed control scheme can ensure uniform ultimate boundedness of the closed-loop system, and the consensus tracking error of each agent can converge to a small neighborhood near zero. Finally, the single-link robot manipulator multi-agent system model is used to perform numerical simulations to demonstrate the control effect further. [ABSTRACT FROM AUTHOR]