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This paper studies output synchronization problems for heterogeneous networksof continuous- or discrete-time right-invertible linear agents in presence ofunknown, non-uniform and arbitrarily large input delay based on localizedinformation exchange. It is assumed that all the agents are introspective,meaning that they have access to their own local measurements. Universal linearprotocols are proposed for each agent to achieve output synchronizations.Proposed protocols are designed solely based on the agent models using noinformation about communication graph and the number of agents or other agentmodels information. Moreover, the protocols can tolerate arbitrarily largeinput delays.

Scale-free Protocol Design for Output Synchronization of Heterogeneous  Multi-agent subject to Unknown, Non-uniform and Arbitrarily Large Input  Delays