Powershell logs

Are there any logs where I can identify commands executed on Power shell window. For example if a team member changes a setting on central admin using powershell, I would like to verify the user identity and command that has been performed as part of auditing. Can I get those logs.

We are trying to audit tasks performed by some users as part of auditing on powershell commands executed by each individual on a farm , is there a audit log that I can use to perform audit.