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This paper proposes relaxed sufficient conditions for the consensus of multi-agent systemsby the averaging protocols with time-varying system topology.Bidirectional information exchangebetween neighboring agents is considered and both the discrete-time and continuous-time consensusprotocols are studied.It is shown that the consensus is reached if there exists an unbounded timesequence such that two agents who own the maximum and minimum states at each time instant in thesequence will be jointly connected at some future time.Further,this result is applied to the originalnonlinear Vicsek model,and a sufficient condition for the heading consensus of the group with restrictedinitial conditions is obtained.
This paper proposes a sufficiently sufficient condition for the consensus of multi-agent systems by the averaging protocols with time-varying system topology. Bidirectional information exchangebetween neighboring agents is both and discrete-time and continuous-time consensus protocols. consensus is reached if there exists an unbounded time sequence such that two agents who own the maximum and minimum states at each time instant in thesequence will be together connected at some future time. Future, this result is applied to the original nonlinearlinear Vicsek model, and a sufficient condition for the title consensus of the group with restrictedinitial conditions is obtained.