Nonlinear Filtering and Reinforcement Learning Based Consensus Achievement of Uncertain Multi-Agent Systems
Kaustav Jyoti Borah
Abstract:This paper introduces a novel approach for designing estimators to achieve consensus in uncertain multi-agent systems (MAS), even when various fault conditions are present and communication is assumed to be undirected and connected. The method includes an adaptive fault detection technique to detect faults and a unique adaptation in the unscented Kalman filter (UKF) to adjust noise covariance matrices and reconstruct uncertain states in the multi-agent system is proposed in the framework of Q-learning. Additio… Show more
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