Scale-free Protocol Design for Output Synchronization of Heterogeneous Multi-agent subject to Unknown, Non-uniform and Arbitrarily Large Input Delays

This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized information exchange. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. Universal linear protocols are proposed for each agent to achieve output synchronizations. Proposed protocols are designed solely based on the agent models using no information about communication graph and the number of agents or other agent models information. Moreover, the protocols can tolerate arbitrarily large input delays.Comment: 9 pages, 3 figures, short version of this paper will be presented at Chinese Control Conference 2020. arXiv admin note: text overlap with arXiv:2002.06577, arXiv:2001.02117, arXiv:1908.06535, arXiv:2004.0949

Scale-free Design for Delayed Regulated Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems Subject to Unknown Non-uniform and Arbitrarily Large Communication Delays

In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) 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.Comment: 18 pages, 10 figures, a short version of this paper will be submitted to ACC 2021. arXiv admin note: text overlap with arXiv:2004.09498, arXiv:2004.1301