Leader-Following Consensus With Nonuniform and Large Communication Delays

In this article, we study the leader-following consensus problem for linear multiagent systems and a class of nonlinear ones with bounded disturbances and nonuniform and arbitrarily large communication delays on both directed and undirected graphs. In the linear case, we solve for the first time the leader-following consensus problems in the presence of arbitrarily large, nonuniform, and time-varying communications delay on generic connected graphs. The approach is fully distributed and it is based on a suitable weighting modification of the network links and on an output feedback chain of predictors.