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.

中文翻译：

---

时滞状态约束脉冲协议的非线性多Agent系统分布式自适应容错共识

本文针对具有状态时滞的状态约束脉冲协议，针对非线性多智能体系统的分布式自适应容错共识问题。首先，将基于相邻代理之间的本地通信的分布式自适应在线更新方案应用于一些自适应参数。其次，引入了脉冲控制协议以节省连续通信的成本，其中不连续控制器仅在延迟的脉冲瞬间工作。同时，为了同时考虑致动器饱和和MAS中的某些信号传输延迟，将状态约束和时间延迟应用于脉冲控制策略。然后，采用分布式自适应控制策略和带时滞的状态约束脉冲控制来补偿故障影响，并在有领导者和无领导者的情况下处理非线性MAS中的共识问题。最后，通过数值模拟说明了理论结果的可行性。