LAUSR

This paper focuses on the distributed adaptive fault-tolerant consensus problem for nonlinear multi-agent systems(MASs) using state-constraint impulsive protocols with time-delay. Firstly, the distributed adaptive online updating schemes based on the local communication among neighboring agents are applied to some adaptive parameters. Secondly, the impulsive control protocols are introduced to save the cost of continuous communication, where the discontinuous controller only works at delayed impulsive instants. Meanwhile, in order to consider both actuator saturation, and some signal transmission delays in MASs, the state-constraint, and time-delay are employed to the impulsive control strategies. Then, the distributed adaptive control strategies, and state-constraint impulsive control with time-delay are adopted to compensate fault impacts, and deal with the consensus problem in the nonlinear MASs with, and without leader. Finally, some numerical simulations are given to illustrate the feasibility of the theoretical results.