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This paper studies regulated state synchronization of discrete-timehomogeneous networks of non-introspective agents in presence of unknownnon-uniform input delays. A scale free protocol is designed based on additionalinformation exchange, which does not need any knowledge of the directed networktopology and the spectrum of the associated Laplacian matrix. The proposedprotocol is scalable and achieves state synchronization for any arbitrarynumber of agents. Meanwhile, an upper bound for the input delay tolerance isobtained, which explicitly depends on the agent dynamics.

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