Reinforcement Learning Behavioral Control for Nonlinear Autonomous System

doi:10.1109/JAS.2022.105797

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	Reinforcement Learning Behavioral Control for Nonlinear Autonomous System
	Zhenyi Zhang; Zhibin Mo; Yutao Chen; Jie Huang
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:9 页码:1561-1573
关键词	Behavioral control mission supervisor nonlinear autonomous system reinforcement learning
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105797
英文摘要	Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear controllers. In this work, a novel two-layer reinforcement learning behavioral control (RLBC) method is proposed to reduce such dependence by trial-and-error learning. Specifically, in the upper layer, a reinforcement learning mission supervisor (RLMS) is designed to learn the optimal mission priority. Compared with existing mission supervisors, the RLMS improves the dynamic performance of mission priority adjustment by maximizing cumulative rewards and reducing hardware storage demand when using neural networks. In the lower layer, a reinforcement learning controller (RLC) is designed to learn the optimal control policy. Compared with existing behavioral controllers, the RLC reduces the control cost of mission priority adjustment by balancing control performance and consumption. All error signals are proved to be semi-globally uniformly ultimately bounded (SGUUB). Simulation results show that the number of mission priority adjustment and the control cost are significantly reduced compared to some existing mission supervisors and behavioral controllers, respectively.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49673]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zhenyi Zhang,Zhibin Mo,Yutao Chen,et al. Reinforcement Learning Behavioral Control for Nonlinear Autonomous System[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(9):1561-1573.
APA	Zhenyi Zhang,Zhibin Mo,Yutao Chen,&Jie Huang.(2022).Reinforcement Learning Behavioral Control for Nonlinear Autonomous System.IEEE/CAA Journal of Automatica Sinica,9(9),1561-1573.
MLA	Zhenyi Zhang,et al."Reinforcement Learning Behavioral Control for Nonlinear Autonomous System".IEEE/CAA Journal of Automatica Sinica 9.9(2022):1561-1573.