Reinforcement　learning　behavioral　control　(RLBC)　is　limited　to　an　individual　agent　without　any　swarm　mission,　because　it　models　the　behavior　priority　learning　as　a　Markov　decision　process.　In　this　paper,　a　novel　multi-agent　reinforcement　learning　behavioral　control　(MARLBC)　method　is　proposed　to　overcome　such　limitations　by　implementing　joint　learning.　Specifically,　a　multi-agent　reinforcement　learning　mission　supervisor　(MARLMS)　is　designed　for　a　group　of　nonlinear　second-order　systems　to　assign　the　behavior　priorities　at　the　decision　layer.　Through　modeling　behavior　priority　switching　as　a　cooperative　Markov　game,　the　MARLMS　learns　an　optimal　joint　behavior　priority　to　reduce　dependence　on　human　intelligence　and　high-performance　computing　hardware.　At　the　control　layer,　a　group　of　second-order　reinforcement　learning　controllers　are　designed　to　learn　the　optimal　control　policies　to　track　position　and　velocity　signals　simultaneously.　In　particular,　input　saturation　constraints　are　strictly　implemented　via　designing　a　group　of　adaptive　compensators.　Numerical　simulation　results　show　that　the　proposed　MARLBC　has　a　lower　switching　frequency　and　control　cost　than　finite-time　and　fixed-time　behavioral　control　and　RLBC　methods.　©　Zhejiang　University　Press　2024.