This paper investigates the coupled control problem within safety-focused reinforcement learning, addressing the essential challenge of achieving optimal performance while ensuring safety in systems operating within complex environments. We define safety as the requirement to prevent the system from reaching undesirable or hazardous states. We propose a coupled control approach that prioritizes safety by employing effective methods to prevent the system from entering unsafe states while optimizing the performance metric, defined as the average cost. We propose a novel problem transformation that reformulates it into a risk-sensitive problem combined with an average reward criterion. We present a two-timescale Q-learning algorithm where in the faster timescale, the algorithm solves a risk-sensitive control problem to ensure safety, while on a slower timescale, the algorithm focuses on average cost control. We provide theoretical guarantees for the convergence of our algorithms, establishing their significance in ensuring safe, optimal control in dynamic environments. We validated the performance of our approach using GridWorld and CarGoal task in Safety Gymnasium.

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