Delay Robustness in Non-Identical Multi-Agent Systems

We investigate the robustness of consensus protocols on sensor networks to different types of feedback delays. We provide set-valued conditions for consensus of linear Multi-Agent Systems (MAS) with nonidentical agent dynamics and heterogeneous delays. These conditions consider different feedback delay configurations and are robust and scalable to unknown, arbitrary large topologies and unknown but bounded self-delays and communication delays. Moreover, we provide consensus conditions for relative degree two MAS with different feedback delays in order to illustrate the applicability of these set-valued conditions.