Scale-free protocol design for regulated state synchronization of homogeneous multi-agent systems with unknown and non-uniform input delays

This paper studies regulated state synchronization of homogeneous networks of continuous- or discrete-time non-introspective agents in the presence of unknown and nonuniform input delays. A scale-free design is proposed utilizing neighborhood-based collaborative protocols, which do not need any knowledge of the communication topology of the network such as the spectrum of the associated Laplacian matrix or the size of the network (i.e. the number of agents). An upper bound for the input delay tolerance is obtained, which explicitly depends on agent dynamics but is independent of the network.