Hamilton and Madison hoped secession would never happen, but they never denied that it was a right and a practical possibility. They envisioned the people taking arms against the federal government if it exceeded its delegated powers or invaded their rights, and they admitted that this would be justified. Secession, including the resort to arms, was the final remedy against tyranny. (This is the real point of the Second Amendment.)
The Constitution itself is silent on the subject, but since secession was an established right, it didnt have to be reaffirmed. More telling still, even the bitterest opponents of the Constitution never accused it of denying the right of secession. Three states ratified the Constitution with the provision that they could later secede if they chose; the other ten states accepted this condition as valid.
But the never said that the decision to leave could be made unilaterally.