Reinforcement Learning Behavioral Control for Nonlinear Autonomous System
Zhenyi Zhang, Zhibin Mo, Yutao Chen, Jie Huang
Abstract
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.