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In this paper, we investigate a constrained optimal coordination problem fora class of heterogeneous nonlinear multi-agent systems described by high-orderdynamics subject to both unknown nonlinearities and external disturbances. Eachagent has a private objective function and a steady-state constraint about itsoutput. We develop a composite distributed controller for each agent by acombination of internal model and neural network. All agent outputs are provento reach the constrained minimal point of the aggregate objective function withbounded residual errors irrespective of the unknown nonlinearities and externaldisturbances. Two examples are finally given to demonstrate the effectivenessof the algorithm.

Neural Network-based Constrained Optimal Coordination for Heterogeneous Uncertain Nonlinear Multi-agent Systems