Scale-free protocol design for delayed regulated synchronization of multi-agent systems subject to unknown, nonuniform, and arbitrarily large communication delays

In this article, we study scale-free delayed regulated state/output synchronization for homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, nonuniform, and arbitrarily large communication delays. A delay transformation is utilized to transform the original MAS to a new system without delayed states. The proposed scale-free dynamic protocols are developed for non-introspective homogeneous and introspective heterogeneous MAS. The protocol design utilizes localized information exchange with neighbors and is solely based on the knowledge of agent models. In other words, the scale-free protocol design is independent of information about the communication network or the size of the network.