This paper presents new concepts for coordinating multiple behaviours in task level control tasks. Behaviours are introduced as user-defined plans for different tasks with context dependent priorities. A fuzzy logic based Behaviour Control System (BCS) engages and disengages behaviours conditionally at suitable time points, or unconditionally in very urgent cases. Plans, i.e., behaviours, are user defined context free edge replacement grammars, which introduce parallelisms, loops, and choice in a natural straight forward way. A fuzzy logic based Applicability Control System (ACS) guides the planning process by choosing the "best" applicable production rule. Plan execution and plan validity monitoring are carried out by projecting plan effects using Situation Grids. Possible applications of this architecture are intelligent systems with high demands for autonomy, flexibility, and problem solving capabilities such as flexible manufacturing cells and mobile robots for forwarding or inspection tasks.