Average consensus in symmetric nonlinear multi-agent networks with non-homogeneous delays
We study nonlinear continuous-time decentralized consensus algorithms with delayed couplings for networks of single-order agents. The network topology is undirected and may switch and the couplings may be nonlinear and uncertain, but supposed to satisfy conventional sector conditions. Using the absolute stability methods, we obtain effective condition for convergence of such consensus protocols, given that the network graph is uniformly connected.
CYBERNETICS AND PHYSICS, VOL. 1, No. 2, 2012, 128-133.