Semistability theory for differential inclusions with applications to consensus problems in dynamical networks with switching topology

This paper focuses on semistability and finite-time semistability for discontinuous dynamical systems. Semistability is the property whereby the solutions of a dynamical system converge to Lyapunov stable equilibrium points determined by the system initial conditions. Using these results we develop a framework for designing semistable protocols in dynamical networks with switching topologies. Specifically, we present distributed nonlinear static and dynamic output feedback controller architectures for multiagent network consensus with dynamic communication topologies.