Safe reinforcement learning: A control barrier function optimization approach

• Published in: International journal of robust and nonlinear control Vol. 31; no. 6; pp. 1923 - 1940
• Main Authors: Marvi, Zahra, Kiumarsi, Bahare
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.04.2021
• Subjects: actor/critic; Algorithms; control barrier function; Control stability; Control systems design; Controllers; Cost function; Damping; Lane keeping; Machine learning; Optimization; reinforcement learning; Safety; System dynamics

Summary This article presents a learning‐based barrier certified method to learn safe optimal controllers that guarantee operation of safety‐critical systems within their safe regions while providing an optimal performance. The cost function that encodes the designer's objectives is augmented w...