This paper studies semi-global state synchronization of discrete-time homogeneous networks with diffusive full-state coupling or partial-state coupling subject to actuator saturation and unknown nonuniform input delay. We assume that agents are at most critical unstable, that is the agents have all its eigenvalues in the closed unit disc. The communication network is associated with an undirected and weighted graph, which is represented by a row stochastic matrix. In this paper, we derive an upper bound for the input delay tolerance, which explicitly depends only on the agent dynamics. Moreover, for any unknown delay less than the upper bound, we propose a linear static protocol for MAS with full-state coupling and a linear dynamic protocol for MAS with partial-state coupling based on a low-gain methodology such that state synchronization is achieved among agents for any initial conditions in a priori given compact set.

本文研究了具有执行器饱和和未知非均匀输入时滞的具有扩散全状态耦合或部分状态耦合的离散时间齐次网络的半全局状态同步。我们假设代理最多是不稳定的，也就是说，代理在封闭单元盘中具有其所有特征值。通信网络与无向加权图关联，该图由行随机矩阵表示。在本文中，我们推导了输入延迟容限的上限，该上限明确地仅取决于代理动力学。此外，对于任何未知的延迟（小于上限），