Characterizing the Convergence of a Distributed Consensus Algorithm via Relative Hull

This brief proposed a novel geometric structure called relative hull. By using this newly introduced concept, a novel consensus algorithm of multiagent systems was established. It has been strictly proved that such an algorithm contains a much larger convergence region with respect to the widely investigated average consensus algorithms. Furthermore, applications of this algorithm to consensus of multiagent systems with compasses and consensus on a torus demonstrated the effectiveness and generality of the proposed geometric structure.