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Multi-agent consensus convergence analysis with infinitely jointly connected and directed communication graphs

机译：具有无限联合和有向通信图的多主体共识收敛分析

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摘要

In this paper, we investigate the connectivity conditions on consensus of discrete-time multi-agent systems with time-varying communication graph. We consider quite general switching communication topologies, whose length between the switching moments may tend to infinity with the well-known uniformly joint connectivity as its special case. We prove that the persistent graph of this network communication graph plays an important role in the agreement seeking, and give necessary and sufficient conditions for the global consensus.
机译：在本文中，我们使用时变通信图研究离散时间多智能体系统的一致连通性条件。我们考虑相当普遍的交换通信拓扑，在特殊情况下，由于众所周知的统一联合连接性，其交换时刻之间的长度可能趋于无穷大。我们证明了该网络通信图的持久图在协议寻求中起着重要作用，并为全球共识提供了必要和充分的条件。

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