About synchronization of homogeneous nonlinear agents over switching networks

In this paper, we consider the problem of achieving consensus in a homogeneous network of nonlinear agents. The network topology switches within a finite set of connected topologies that persist on a certain interval of time possibly of zero length. Under this condition we prove that, if the rule underlying the switching of the topologies fulfills an average dwell-time, then consensus is achieved. The idea that is pursued in the paper to prove the result is to study the networked system as an hybrid inclusion and to adopt Lyapunov arguments proposed in the literature about hybrid nonlinear systems.