Scale-free Design for Delayed Regulated Synchronization of Discrete-time Heterogeneous Multi-agent Systems subject to Unknown Non-uniform and Arbitrarily Large Communication Delays
Donya Nojavanzadeh, Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel · 2021
In this paper, we study delayed regulated output synchronization for discrete-time heterogeneous multi-agent systems (MAS) with introspective agents subject to unknown, non-uniform 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 solely based on agent models and localized information exchange with neighbors such that we do not need any information about the communication networks and the number of agents.