About synchronization of homogeneous nonlinear agents over switching   networks
  In this technical note we address the problem of achieving consensus in a network of homogeneous nonlinear systems. The communication network is supposed to be switching within a finite set of topologies which may be disconnected for finite time intervals. We prove that if the length of the time intervals in which connected topologies are active satisfy an average dwell-time condition consensus is achieved. Lyapunov arguments proposed in the field of hybrid nonlinear systems are adopted to prove the result. 
G. Casadei, L. Marconi and A. Isidori
math.OC