The S-hull approach to consensus


It is shown in the paper how by introducing interconnection symmetries by use of bidirectional communication, stability of consensus protocols on arbitrary topologies can be guaranteed in a decentralized and scalable way, despite the presence of higher order heterogeneous dynamics. The analysis is centred round the notion of an S-hull a relaxed convex hull… (More)
DOI: 10.1109/CDC.2007.4434825

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