中文摘要：

这篇论文与变化时间的系统拓扑学由平均协议为多代理人系统的一致建议放松的 suffient 条件。在附近的代理人之间的双向信息交换被考虑，两个都，分离时间、连续时间的一致协议被学习。如果，一致被到达，这被显示出在那里存在一个无界的时间序列以便二个代理人每次在顺序的片刻将是，拥有最大、最小的状态在的人，联合在一些未来时间连接了。进一步，这结果被用于原来的非线性的 Vicsek 模型，和一个足够的条件因为有限制起始的条件的组的出发一致被获得。

英文摘要：

This paper proposes relaxed sufficient conditions for the consensus of multi-agent systems by the averaging protocols with time-varying system topology. Bidirectional information exchange between neighboring agents is considered and both the discrete-time and continuous-time consensus protocols are studied. It is shown that the 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 the sequence will be jointly connected at some future time. Further, this result is applied to the original nonlinear Vicsek model, and a sufficient condition for the heading consensus of the group with restricted initial conditions is obtained.