This paper proposes a double-layer framework for leader-following multiagent systems with input saturation and actuator faults. In the network layer, an observer is constructed to generate a reference trajectory for each follower over jointly connected topologies. In the physical layer, a semi-global tracking control method is developed to compensate for the detrimental impacts of both input saturation and actuator faults. Specifically, to address the leader’s unknown control input over jointly connected topologies, a fully distributed virtual cooperative control method is developed. This method enables communication among followers and guides them toward coordinated cooperative behaviors. Based on this protocol, a saturated tracking control method is developed to solve the tracking problem, ensuring that each follower can track the observer system designed in the network layer. Compared with existing tracking control approaches, the proposed method relaxes the constraints on both the leader’s control input and the cooperative communication networks, making it more applicable to engineering applications and practical systems. Finally, numerical simulations are conducted to verify the feasibility of the proposed methods.
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