Command filter-based adaptive fault-tolerant tracking control for uncertain non-strict feedback multi-agent systems with or without state constraints

•Adaptive leader following fault tolerant tracking control is proposed for nonlinear multi agent systems with or without state constraints.•The original constraint system is transformed into a new unconstrained system by introducing nonlinear mapping.•A novel adaptive fault tolerant consensus tracking control manner is raised with command filtered backstepping design.•All signals in the closed loop system are cooperative semi globally uniformly ultimately bounded.