Leader-following consensus with non-uniform and large communication delays

In this paper we study the leader following consensus problem for linear multi-agent systems and a class of nonlinear ones with bounded disturbances and non-uniform 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 presence of arbitrarily large, non-uniform 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.