Regulated State Synchronization of Homogeneous Discrete-Time Multi-Agent Systems via Partial State Coupling in Presence of Unknown Communication Delays

This paper studies regulated state synchronization for homogeneous discrete-time multi-agent systems (MAS) in the presence of unknown nonuniform communication delays. We consider partial state coupling, i.e., agents are coupled through part of their states. A low gain-based protocol is designed which only requires rough knowledge of the communication network, such that the state synchronization for MAS is achieved where the required synchronized trajectory is only given to some of the agents.