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This paper studies regulated state synchronization of homogeneous networks ofnon-introspective agents in presence of unknown nonuniform input delays. Ascale-free protocol is designed based on additional information exchange, whichdoes not need any knowledge of the directed network topology and the spectrumof the associated Laplacian matrix. The proposed protocol is scalable andachieves state synchronization for any arbitrary number of agents. Meanwhile,an upper bound for the input delay tolerance is obtained, which explicitlydepends on the agent dynamics.

Regulated State Synchronization for Homogeneous Networks of  Non-introspective Agents in Presence of Input Delays: A Scale-Free Protocol  Design (with a general MATLAB implementation)