Nonlinear Filtering and Reinforcement Learning Based Consensus Achievement of Uncertain Multi-Agent Systems

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 MAS is proposed in the framework of Q-learning. Additionally, it involves training neural network internal parameters using previous measurements. A Chebyshev neural network (CNN) is employed to model the uncertain plant, and a hyperbolic tangent-based robust control term is used to mitigate neural network approximation errors. This novel approach is known as reinforced UKF (RUKF). The paper also discusses the asymptotic stability of the proposed method and presents numerical simulations to demonstrate its effectiveness with reduced computational load.