Autonomous Blimp Control via $H_{\infty}$ Robust Deep Residual Reinforcement Learning

Due to their superior energy efficiency, blimps may replace quadcopters for long-duration aerial tasks. However, designing a controller for blimps to handle complex dynamics, modeling errors, and disturbances remains an unsolved challenge. One recent work combines reinforcement learning (RL) and a PID controller to address this challenge and demonstrates its effectiveness in real-world experiments. In the current work, we build on that using an
$H_{\infty}$
robust controller to expand the stability margin and improve the RL agent's performance. Empirical analysis of different mixing methods reveals that the resulting
$\mathrm{H}_{\infty}$
. RL controller outperforms the prior PID-RL combination and can handle more complex tasks involving intensive thrust vectoring. We provide our code as open-source at https://github.com/robot-perception-group/robust_deep_residual_blimp.