Safe Intermittent Reinforcement Learning With Static and Dynamic Event Generators
Yongliang Yang, Kyriakos G. Vamvoudakis, Hamidreza Modares, Yixin Yin, Donald C. Wunsch · IEEE Transactions on Neural Networks and Learning Systems · 2020
In this article, we present an intermittent framework for safe reinforcement learning (RL) algorithms. First, we develop a barrier function-based system transformation to impose state constraints while converting the original problem to an unconstrained optimization problem. Second, based on optimal derived policies, two types of intermittent feedback RL algorithms are presented, namely, a static and a dynamic one. We finally leverage an actor/critic structure to solve the problem online while guaranteeing optimality, stability, and safety. Simulation results show the efficacy of the proposed approach.