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

Donya Nojavanzadeh*, Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)6369-6391
Number of pages23
JournalInternational journal of robust and nonlinear control
Volume31
Issue number13
DOIs
Publication statusPublished - 10 Sep 2021

Keywords

  • delayed synchronization
  • homogeneous and heterogeneous MAS
  • scale-free protocol design
  • unknown communication delay

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