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\begin{document}

\title{A unified adaptive event-triggered output feedback consensus for
multi-agent systems with or without output constraints}



\author[1]{Zixuan Huang}%
\author[2]{Hamid Reza Karimi}%
\author[3]{Ben Niu}%
\author[4]{Lun Li}%
\author[5]{Xudong Zhao}%
\affil[1]{Bohai University}%
\affil[2]{Politecnico di Milano}%
\affil[3]{Shandong Normal University}%
\affil[4]{Weifang University}%
\affil[5]{Dalian University of Technology}%


\vspace{-1em}



  
  \date{March 15, 2025}


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\begin{abstract}
This paper focuses on the issue of adaptive event-triggered
leader-follower consensus for multi-agents systems with output
constraints and dead-zone inputs. By introducing an advanced nonlinear
mapping technique to obtain the unconstrained auxiliary variables of
constrained system states, a new systems model without output
constraints is constructed. Unlike existing schemes, the proposed
strategy can be used in both constrained and unconstrained situations
without requiring changes to the control structure. Moreover, a state
estimator is constructed to observe the unavailable states. To conserve
communication resources, an event-triggered rule with a dynamic
threshold is designed to decrease superfluous information transmissions
from the controller to the actuator. It is proven that all signals in
closed-loop systems are ultimately bounded and the system output does
not violate the given constraint range. At last, a numerical simulation
example is provided to confirm the correctness and efficiency of the
proposed method.%
\end{abstract}%



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