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Frozen state conditions for asymptotic consensus of time-varying cooperative nonlinear networks

In this paper we present new results on asymptotic consensus for continuous-time nonlinear time varying cooperative networks. We endow the well known assumption of integral connectivity proposed by Moreau with a remarkable additional feature of being frozen in state variables, making its direct verification more straightforward. Moreover, we give an estimate of the exponential rate of convergence towards the agreement manifold.