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On Discrete-Time Convergence for General Linear Multi-Agent Systems Under Dynamic Topology

机译：动态拓扑下一般线性多Agent系统的离散时间收敛

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摘要

This note aims to develop the nonnegative matrix theory, in particular the product properties of infinite row-stochastic matrices, which is widely used for multiple integrator agents, to deal with the convergence analysis of general discrete-time linear multi-agent systems (MASs). With the proposed approach, it is finally shown both theoretically and by simulation that the consensus for all the agents can be reached exponentially fast under relaxed conditions, i.e. the individual uncoupled system is allowed to be strictly unstable (in the discrete-time sense) and it is only required that the joint of the communication topologies has a spanning tree frequently enough. Moreover, a least convergence rate as well as an upper bound for the strictly unstable mode, which are independent of the switching mode of the system, are specified as well.
机译：本文旨在发展非负矩阵理论，特别是无限行随机矩阵的乘积性质，该性质广泛用于多个积分代理，以处理一般离散时间线性多代理系统（MAS）的收敛性分析。 。通过所提出的方法，最终在理论上和仿真上都表明，在松弛条件下可以快速指数地达成所有代理的共识，即允许单个非耦合系统严格不稳定（在离散时间意义上），并且仅要求通信拓扑的连接点具有足够频繁的生成树。此外，还规定了与系统的切换模式无关的最小收敛率以及严格不稳定模式的上限。

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