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To address these issues, a novel backstepping-based adaptive state feedback control protocol is proposed by utilizing a reference dynamic system. Furthermore, an output-feedback consensus control algorithm incorporating a state observer is introduced. Through the application of Laplace transformation, matrix properties, and graph theory, it is demonstrated that the closed-loop multi-agent system ensures the boundedness of all signals and achieves output consensus, even in the presence of nonuniform communication delays. Numerical simulations on a group of inverted pendulums illustrate the effectiveness of these algorithms. <\/jats:p>","DOI":"10.1177\/09596518241255161","type":"journal-article","created":{"date-parts":[[2024,6,4]],"date-time":"2024-06-04T05:09:06Z","timestamp":1717477746000},"page":"1825-1836","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive consensus control of uncertain nonlinear multi-agent systems with communication delays and relative output information"],"prefix":"10.1177","volume":"238","author":[{"given":"Mengqi","family":"Zhang","sequence":"first","affiliation":[{"name":"Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7831-5246","authenticated-orcid":false,"given":"Gang","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Machine Intelligence, University of Shanghai 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