Consensus over directed static networks with arbitrary finite communication delays

We study the consensus problem in directed static networks with arbitrary finite communication delays and consider both linear and nonlinear coupling. For the considered networked system, only locally delayed information is available for each node and also the information flow is directed. We find that consensus can be realized whatever the communications delays are. In fact, we do not even need to know the explicit values of the communication delays. One well-informed leader is proved to be enough for the regulation of all nodes' final states, even when the external signal is very weak. Numerical simulations for opinion formation in small-world and scale-free networks are given to demonstrate the potentials of our analytic results.