Average consensus in switching nonlinearly coupled networks with time-varying delays.*

Continuous-time nonlinear consensus algorithms with heterogeneous bounded delays are considered. The agents are modeled with single-integrator dynamics, the network topology is undirected but may switch as time progresses and the couplings may be uncertain, but supposed to satisfy a conventional sector condition with known sector slopes. We offer effective analytic condition for the delay bound which guarantees the convergence of such consensus protocols.