Network synchronization with nonlinear dynamics and switching interactions

This technical note considers the synchronization problem for networks of coupled nonlinear dynamical systems under switching communication topologies. Two types of nonlinear agent dynamics are considered. The first one is non-expansive dynamics [stable dynamics with a convex Lyapunov function φ(·)] and the second one is dynamics that satisfies a global Lipschitz condition. For the non-expansive case, we show that various forms of joint connectivity for communication graphs are sufficient for networks to achieve global asymptotic φ-synchronization. We also show that φ-synchronization leads to state synchronization provided that certain additional conditions are satisfied. For the globally Lipschitz case, unlike the non-expansive case, joint connectivity alone is not sufficient for achieving synchronization. A sufficient condition for reaching global exponential synchronization is established in terms of the relationship between the global Lipschitz constant and the network parameters.