Scale-Free Collaborative Protocol Design for Output Synchronization of Heterogeneous Multi-Agent Systems With Nonuniform Communication Delays

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Abstract
In this paper, we study regulated output synchronization for continuous- or discrete-time heterogeneous multi-agent systems with linear right-invertible agents subject to unknown, nonuniform and arbitrarily large communication delays. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. A scale-free design framework utilizing localized information exchange has been adopted. The scale-free protocol design is solely based on the knowledge of the agent models such that we do not require any information about the communication networks and the number of agents.
Funding Information
  • Nature Science Foundation of Liaoning Province (2019-MS-116)
  • National Science Foundation (1635184)

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