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, arbitrarily large communication delays. A delay transformation is utilized transform the original MAS a new system without states. The proposed dynamic protocols are developed non-introspective introspective MAS. protocol design utilizes localized information exchange with neighbors solely based on knowledge agent models. other words, independent about network or size network.