About synchronization of homogeneous nonlinear agents over switching networks

TL;DR

This paper proves that consensus can be achieved among homogeneous nonlinear agents over switching networks with disconnected intervals, using Lyapunov methods under an average dwell-time condition.

Contribution

It introduces a novel consensus result for nonlinear agents over switching, possibly disconnected, networks using hybrid Lyapunov techniques and average dwell-time conditions.

Findings

Consensus is achieved under average dwell-time switching.

Lyapunov methods from hybrid systems are effective.

Disconnection intervals are tolerated in the network topology.

Abstract

In this technical note we address the problem of achieving consensus in a network of homogeneous nonlinear systems. The communication network is supposed to be switching within a finite set of topologies which may be disconnected for finite time intervals. We prove that if the length of the time intervals in which connected topologies are active satisfy an average dwell-time condition consensus is achieved. Lyapunov arguments proposed in the field of hybrid nonlinear systems are adopted to prove the result.