Synchronization of Complex Networks With Nondifferentiable Time-Varying Delay

In this article, we investigate the synchronization of complex networks with general time-varying delay, especially with nondifferentiable delay. In the literature, the time-varying delay is usually assumed to be differentiable. This assumption is strict and not easy to verify in engineering. Until now, the synchronization of networks with nondifferentiable delay through adaptive control remains a challenging problem. By analyzing the boundedness of the adaptive control gain and extending the well-known Halanay inequality, we solve this problem and establish several synchronization criteria for networks under the centralized adaptive control and networks under the decentralized adaptive control. Particularly, the boundedness of the centralized adaptive control gain is theoretically proved. Numerical simulations are provided to verify the theoretical results.