Stability of continuous-time consensus algorithms for switching networks with bidirectional interaction

Alexey S. Matveev, Igor Novinitsyn, Anton V. Proskurnikov

Abstract: We consider the problem of reaching consensus in a network of the first-order continuous-time agents with switching topology. The coupling gains are neither piecewise-continuous, nor separated from zero, nor symmetric, though the network topology is assumed to be undirected. The main result of the paper provides conditions on the network topology that are necessary and sufficient for reaching consensus.