Distributed learning consensus for heterogenous high-order nonlinear multi-agent systems with output constraints

This paper considers the learning consensus problem for heterogenous high-order nonlinear multi-agent systems with output constraints. The dynamics consisting of parameterized and lumped uncertainties is different among different agents. To solve the consensus problem under output constraints, two distributed control protocols are designed with the help of a novel barrier Lyapunov function, which drives the control updating and parameters learning. Both convergence analysis and constraint satisfaction are strictly proved by the barrier composite energy function approach. Illustrative simulations are provided to verify the effectiveness of the proposed protocols.