State Synchronization of Discrete-time Multi-agent Systems in Presence of Unknown Nonuniform Communication Delays: A Scale-free Protocol Design

In this paper, we study scale-free state synchronization of discrete-time homogeneous multi-agent systems (MAS) subject to unknown, nonuniform, and arbitrarily large communication delays. The scale-free protocol utilizes localized information exchange and is designed solely based on the knowledge of the agents' model and does not require any information about the communication network and the size of the network (i.e. number of agents).