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The external disturbance considered in this paper is completely unknown, and the accurate mathematical expression cannot be obtained. To eliminate the external disturbance, a disturbance observer is constructed by the Disturbance-Observer-Based-Control (DOBC) method. By utilizing Young\u2019s inequality scaling technique, the problem of time delay is solved. By assuming that the communication graph among the agents is directed and connected, a novel distributed adaptive consensus control protocol is established based on the relative output information to achieve the goal of consensus control. Furthermore, the stability of the multi-agent system is analyzed by selecting an appropriate Lyapunov function; it is certified that with the proposed control protocol, all signals are guaranteed to be globally uniformly bounded, and the considered multi-agent systems can reach consensus even in the presence of time delay and external disturbance. Finally, two simulation examples are given to support the proposed control strategy.<\/jats:p>","DOI":"10.1177\/01423312211070649","type":"journal-article","created":{"date-parts":[[2022,1,22]],"date-time":"2022-01-22T01:47:42Z","timestamp":1642816062000},"page":"2063-2075","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":14,"title":["Adaptive consensus control for a class of nonlinear multi-agent systems with unknown time delays and external disturbances"],"prefix":"10.1177","volume":"44","author":[{"given":"Shaoning","family":"Liu","sequence":"first","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6813-6754","authenticated-orcid":false,"given":"Jian","family":"Feng","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0375-2075","authenticated-orcid":false,"given":"Qiangde","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Automation, Qufu Normal University, China"}]},{"given":"Weizhao","family":"Song","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, China"}]}],"member":"179","published-online":{"date-parts":[[2022,1,21]]},"reference":[{"key":"bibr1-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2014.2302477"},{"key":"bibr2-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2019.1911669"},{"key":"bibr3-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.863523"},{"key":"bibr4-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2442218"},{"key":"bibr5-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.05.014"},{"key":"bibr6-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218791237"},{"key":"bibr7-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1177\/0142331220906634"},{"key":"bibr8-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.978"},{"key":"bibr9-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2737652"},{"key":"bibr10-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.01.021"},{"key":"bibr11-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2020.3006452"},{"key":"bibr12-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.095"},{"key":"bibr13-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2011.09.015"},{"key":"bibr14-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-8176-4877-0"},{"key":"bibr15-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.amc.2018.01.005"},{"key":"bibr16-01423312211070649","volume-title":"Disturbance Observer-based Control: Methods and Applications","author":"Li S","year":"2014"},{"key":"bibr17-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2350391"},{"key":"bibr18-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.02.010"},{"key":"bibr19-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1007\/s11424-014-1070-z"},{"key":"bibr20-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3508"},{"key":"bibr21-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2012.10.016"},{"key":"bibr22-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.02.058"},{"key":"bibr23-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.864190"},{"key":"bibr24-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2017.2722860"},{"key":"bibr25-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2868997"},{"key":"bibr26-01423312211070649","volume-title":"Cooperative Control of Dynamical Systems","author":"Qu Z","year":"2009"},{"key":"bibr27-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1002\/0471459100"},{"key":"bibr28-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2949176"},{"key":"bibr29-01423312211070649","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2015.7081654"},{"key":"bibr30-01423312211070649","doi-asserted-by":"crossref","unstructured":"Wei X, Yu W, Wang H, et al. 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