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Different from the traditional static constraint, the output constraint imposed in this paper is dynamic and asymmetric which is more challenging to handle with. A barrier function is employed to deal with the output constraint so that the systems can be converted to the unconstrained form. In order to overcome the time-delay, the Lyapunov-Krasovskii function is considered and a distributed ET consensus controller is designed via backstepping theory. The control signal will be released only if the triggered threshold is violated. Thus, all signals of closed-loop systems are cruelly proved to be bounded. Finally, the proposed control strategy is verified to be effective through a numerical experiment, which ensures the consensus of MASs and reduces communication burden.<\/jats:p>","DOI":"10.1177\/09596518241262063","type":"journal-article","created":{"date-parts":[[2024,8,3]],"date-time":"2024-08-03T06:51:15Z","timestamp":1722667875000},"page":"173-185","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Distributed event-triggered cooperative saturation control for nonlinear multi-agent systems with time-delay and output constraint"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-5089-4503","authenticated-orcid":false,"given":"Beibei","family":"Tian","sequence":"first","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Jiaozuo University, Henan, People\u2019s Republic of 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