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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.