Reinforcement Learning Behavioral Control for Nonlinear Autonomous System

doi:10.1109/JAS.2022.105797

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Reinforcement Learning Behavioral Control for Nonlinear Autonomous System
	Zhenyi Zhang; Zhibin Mo; Yutao Chen; Jie Huang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:9 页码:1561-1573
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.
关键词	Behavioral control mission supervisor nonlinear autonomous system reinforcement learning
DOI	10.1109/JAS.2022.105797
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49673
专题	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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
JAS-2021-1191.pdf（2249KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载