Gain-scheduled synchronization of parameter varying systems via relative   $H_\infty$ consensus with application to synchronization of uncertain   bilinear systems
  The paper considers a problem of consensus-based synchronization of uncertain parameter varying multi-agent systems. We present a method for constructing consensus-based synchronization protocol schedules for each agent to ensure it synchronizes with a reference parameter-varying system. The proposed protocol guarantees a specified level of $H_\infty$ transient consensus between the agents. The algorithm uses a consensus-preserving interpolation and produces continuous (in the scheduling parameter) coefficients for the protocol. An application to synchronization of uncertain bilinear systems is discussed. 
V. Ugrinovskii
cs.SY