<p>This paper addresses the consensus tracking protocol for multi-vehicle systems whose outputs satisfy the prescribed constraints. Only a partial collection of the follower vehicles have access to the leader vehicle’s signal, and the communication network of vehicles is modeled as a connected undirected graph. Fusing communication weights into the constructed barrier Lyapunov function, we derive a fully distributed adaptive state feedback controller that enforces the output constraint of every follower vehicle and drives its output errors and tracking error to zero asymptotically, based on local state measurements and neighbor data. A dynamic event-triggered mechanism is further embedded to balance inter-event intervals against control effort, significantly reducing communication load. Finally, simulations on practical multi-vehicle systems validate the theoretical analysis.</p>