Agreement with non-uniform information delays

We propose a novel agreement framework for multiple (possibly heterogeneous) agents evolving on a directed information graph with non-uniform delays. Our proposed framework can ensure agreement of a certain scalar quantity among the agents, as long as 1) for each agent, we can design a local control s.t. its closed-loop transfer function has unit gain at dc and gain strictly less than unity elsewhere; 2) the information graph has a globally reachable node (i.e. there exists a path from it to every other nodes); and 3) the information delays are finite constants. Rendezvous simulation is performed to verify the theory