Average consensus in switching nonlinearly coupled networks with time-varying delays.* *The paper was partially supported by RFBR, grants 11-08-01218 and 12-01-00808

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.