Robust Control

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Period ending 2026-09-14

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A weekly snapshot of new work published in Robust Control.

97 papers

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IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Sep 15, 2026Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3Robust Control
Inverting Self-Triggered Control: Adversarial Reinforcement Learning for Sparse Denial-of-Service Attacks
Sep 14, 2026Adam Haroon, Erick J. Rodríguez-Seda, Tristan Schuler +1Robust Control
Curriculum-Based Adversarial Heterogeneous Agent Reinforcement Learning for Autonomous Quad-Copter Landing in Maritime Settings
Sep 14, 2026Allan Minh-Tam Nguyen, Sree Showrya Kotala, Stefan Banioi-Crijman +2Robust Control
Learning to adapt GR(1) specifications through degradation
Sep 14, 2026Tiberiu-Andrei Georgescu, Dalal Alrajeh, Sebastian UchitelConstraint-Aware Synthesis Robust Control
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
Sep 9, 2026Henry Ascencio Trejo, Roel Pieters, Gokhan AlcanRobust Control Generalizable Robot Control
Networked Admissibility-Preserving Control for Directed Safe Coordination
Sep 8, 2026Abhinav Sinha, Lohitvel Gopikannan, Shashi Ranjan KumarRobust Control Global Coordination
On Global Regulatability of Robot Manipulators by Classical PID
Sep 1, 2026Cheng Zhao, Jingru Zhu, Lei GuoRobust Control Robotic Manipulator
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
Aug 11, 2026Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1Aerial Manipulation Robust Control
Knowledge-Distilled End-to-End Reinforcement Learning for Smooth 6-DOF Thrust Control and Rapid Adaptation to Ocean Currents in Remotely Operated Vehicles
Aug 9, 2026Tiankuang Wen, Huiping Li, Gang Liu +1Robust Control Proximal Policy Optimization
Scalable High-Speed Lateral Control for Single-Body and Articulated Autonomous Vehicles
Aug 8, 2026Aashish Shaju, Steve Southward, Mehdi AhmadianVehicle Dynamics Robust Control
A MARL Centered Reference Architecture for Large Language Model Augmentation in Smart Manufacturing
Aug 7, 2026Fouad Bahrpeyma, Dirk ReicheltMulti-Agent Large Language Model Systems Multi-Agent Reinforcement Learning
Robust Control under Stationary Ambiguity
Aug 5, 2026Konrad J. Mueller, Amira Akkari, Ben Wood +1Stochastic Optimal Control Robust Control
Toward Integrating Adaptive Experience Replay and Online Uncertainty Estimation in Safe Actor-Critic Optimal Control
Aug 5, 2026Mahshad Rastegarmoghaddam, Davoud Nikkhouy, Shima SamadzadehControl Barrier Functions Soft Actor-Critic
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
Aug 3, 2026Zicheng Luo, Maolin Lei, Jinjie Li +3Impedance Control Aerial Robots
Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller
Aug 1, 2026Yifei Yuan, Jakob Wolf, Ghaith Androwis +1Exoskeleton Biomechanics
Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates
Jul 29, 2026Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1Vehicle Dynamics Autonomous Parking
Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots
Jul 29, 2026Wenbo Gao, Yaoyao Wang, Jiawang Chen +2Robust Control Robots
Ambient pressure compensation and robust position control of oil-filled electric joint systems for underwater manipulators
Jul 27, 2026Hongrui Wu, Songhui Wang, Xin WangAutonomous Underwater Vehicles Robust Control
Observer-Assisted Relative-Velocity Compensation with LPV- $H_\infty$ Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean CurrentsObserver-Assisted Relative-Velocity Compensation with LPV-H_\infty Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents
Jul 26, 2026Mohammad SabouriAutonomous Underwater Vehicles Unmanned Aerial Vehicle Trajectories
Adjustment Speed as a Safety Constraint for Nonstationary Reinforcement Learning
Jul 21, 2026Timothy TomashevskiySafety Constraints Safe Reinforcement Learning
HypEMBER: Hypernetwork-based Ensemble for Robust Policy Learning of Parametrized Dynamical Systems
Jul 21, 2026Nicolò Botteghi, Gabriele Pascali, Urban Fasel +1Robust Control Ensemble
Real-time optimal control with shallow recurrent decoder networks
Jul 21, 2026Matteo Tomasetto, Francesco Braghin, J. Nathan Kutz +1Reduced-Order Models Optimal Control
Intermittent Control Is Not Diluted Control: A Switching Effect in Artificial Agency
Jul 19, 2026Veronique ZieglerRobust Control Agentic Control
When Can Safe Controllers Adapt? Information before Commitment
Jul 18, 2026Venkatesh SaligramaRobust Control Safety Constraints
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
Jul 17, 2026Hao Zhou, Yanze Zhang, Cameron Reid +1Robust Control Generalizable Robot Control
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Jul 15, 2026Annika Kirner, Grazia Zambella, Igor Kovacevic +3Robust Control Stiffness Modulation
Distributionally Robust and Safe Imitation Learning
Jul 15, 2026Ahmed Aboudonia, Naira HovakimyanImitation Learning Distributional Reinforcement Learning
Tracking Through Decoupling Singularities: A Singularity-Robust Homotopy-Continuation Extension of Feedback Linearization
Jul 11, 2026Alex BorisevichFeedback Linearization Robust Control
Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
Jul 9, 2026Siddhartha Upadhyay, Ratnangshu Das, Pushpak JagtapRobust Control Safety Constraints
Rendering-Aware Bayesian 3D Gaussian Splatting with Native Uncertainty and Adaptive Complexity Control
Jul 6, 2026Gaoxiang Jia, Vikram Appia, Junzhou Huang +13D Gaussian Splatting 3D Gaussian
Co-Adaptive Multi-Task LoRA: Transfer-Aware, Label-Free Control of Domain Participation
Jul 3, 2026Wei Zhang, Lin Tang, Ming Zhao +1Mamba-Modulated Low-Rank Adaptation Low-Rank Adapters
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
Jul 3, 2026Sixu Li, Nitesh Kumar, Reyshwanth Ganeshan +3Vehicle Dynamics Robust Control
QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles
Jul 2, 2026Pedro Santos, Joel Reis, Paulo Oliveira +1Attitude Control Robust Control
Influence of Radial Basis Activation Functions on Intelligent Controller for Robotic Manipulators
Jul 2, 2026Kimmo Paldanius, Gabriel Da Silva Lima, Wallace Moreira BessaRadial Basis Function Robust Control
Cross-Platform Control for Autonomous Surface Vehicles via Adaptive Reinforcement Learning
Jul 2, 2026Ruiheng Jiang, Thomas Bi, Raffaello D'Andrea +1Robust Control Autonomous Underwater Vehicles
When Regulation Has Memory: Hysteresis and Control Burden in Artificial Agency
Jun 29, 2026Veronique ZieglerRobust Control Agentic Control
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
Jun 26, 2026Mohamed Khalid M JaffarLyapunov Function Linear Quadratic Regulator
Resilient Output Containment under Undisclosed Leader Dynamics and Actuator Attacks
Jun 25, 2026Mohammadreza Nematollahi, Khashayar Khorasani, Nader MeskinRobust Control Cyber-Physical System
Layered Outer-Loop Control for Disturbance-Robust Multi-Waypoint UAV Arrival
Jun 24, 2026Runfeng LingRobust Control Agile Flight
Learning to Adapt: Reptile-D-Learning for Robust and Efficient Control Under Parametric Uncertainty
Jun 24, 2026Haipeng Cao, Zhaolong Shen, Quan QuanRobust Control Lyapunov Function
ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving
Jun 24, 2026Sining Ang, Yuan Chen, Liu Haiyan +5Autonomous Driving Large Language Model Planning
What Actually Works for Spacecraft Fault-Tolerant Control: An Honest Settled-Gate Benchmark of Learned and Classical Methods
Jun 24, 2026Alireza ShojaeiFault Tolerance Robust Control
Conformal Recovery-Deadline Certificates for Runtime Assurance of Adapting Controllers
Jun 24, 2026Alireza ShojaeiRobust Control Reachability
Reliability-Asymmetric Spacecraft Autonomy: Co-Designing a Capable Learned GNC Stack with a Verified, Adaptation-Aware Runtime Shield
Jun 24, 2026Alireza ShojaeiSpacecraft Robust Control
Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction
Jun 23, 2026Yiwei Lyu, Caleb Chang, John M. DolanControl Barrier Functions Vehicle Dynamics
Topological Online Learning for Displacement-based Formation Control
Jun 22, 2026Saksham Sharma, Shubhankar Gupta, Sumant A Gunagi +1Robust Control Multi-Robot Systems
Deep RL- Tuned Mo del-Free Adaptive Control for Lower-Limb Exoskeletons During Sit-to-Stand Transitions
Jun 20, 2026Ranjeet Kumbhar, Appaso M. Gadade, Rajmeet Singh +2Exoskeleton Generalizable Robot Control
SRL: Combining SLIP Model and Reinforcement Learning for Agile Robotic Jumping
Jun 17, 2026Xiaowen Hu, Linqi Ye, Yudi Zhu +4Quadrupedal Locomotion Robust Control
Distributed Safe Consensus Under Asymmetric Input and Time-Varying Output Constraints
Jun 15, 2026Abhinav Sinha, Shashi Ranjan KumarSafety Constraints Robust Control
Efficient Domain-Adaptive Policy Learning via Kernel Representation with Application to Quadrotor Control under Non-Stationary Disturbances
Jun 11, 2026Hongyu Zhou, Mingtian Tan, Vasileios TzoumasQuadrotor Control Robust Control
Mahalanobis-Guided Latent OOD Detection for Hybrid ES-DRL Control in Time-Varying Systems
Jun 9, 2026Shaifalee Saxena, Alexander ScheinkerOut-Of-Distribution Detection Performance Robust Control
Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection
Jun 9, 2026Batu Candan, Mohammed Atallah, Simone Servadio +1Extended Kalman Filter Autonomous Navigation
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Jun 9, 2026Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1Real-World Quadrotor Generalizable Robot Control
On-sky demonstration of reinforcement learning for adaptive optics control
Jun 9, 2026Jalo Nousiainen, Vincent Chambouleyron, Benoit Neichel +7Robust Control Policy Optimization
Hybrid Neural Network and Conventional Controller Approach for Robust Control of Highly Unstable Systems: Application to Tilt-Rotor Control
Jun 7, 2026Ali Kafili Gavgani, Amin Talaeizadeh, Aria Alasty +1Quadrotor Control Neural Control
STAR-KV: Low-Rank KV Cache Compression via Soft Thresholding for Adaptive Rank Control
Jun 7, 2026Priyansh Bhatnagar, Ashkan Moradifirouzabadi, Se-Hyun Yang +3Key-Value Cache Compression Key-Value Cache
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Jun 2, 2026Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1Dexterous Manipulation Hand
Autopilot-Preserving Residual Q-Learning with HJB-Inspired Finite-Action Risk Filtering for Fixed-Wing UAV Command Supervision
May 31, 2026Mehmet Iscan, Batuhan TemizQuadrotor Control Robust Control
Adversarially Robust Control of Conditional Value-at-Risk via Rockafellar-Uryasev Conformal Inference
May 29, 2026Catherine Chen, Jingyan Shen, Zhun Deng +1Conditional-Value-At-Risk Conformal Risk Control
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
May 29, 2026Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra +5Robust Control Generalizable Robot Control

Sep 15, 2026 · cs.ROJ/K move · Enter open · S save

IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator

Mehdi Heydari Shahna, Seihun Kim, Soyi Jung, Soohyun Park+2

Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel motion control framework for a 30-ton-class excavator. An anchored, 14-input imitation policy pretrained on operator demonstrations generates nominal joint rates; adaptive Cartesian feedback and gated gain/bias estimation correct these commands before a stopping-distance governor constrains joint-reference generation. Simscape evaluation covers 100 sequential goals and spiral, figure-eight, and rounded-raster tracking, including 88 additional runs across three training seeds, two initializations, and speeds, under hydraulic response and sensing conditions. Compared with Teacher+ACT, IL-ACT completes all goals with shorter duration and lower terminal errors under both response conditions. Telemetry-initialized IL-ACT lowers RMSE in all 24 figure-eight and rounded-raster seed comparisons and lowers additional-load spiral mean RMSE by approximately 29%. Original spiral RMSE also improves over IL-only and PID. Under a shared sensor-noise realization, telemetry-initialized IL-ACT achieves 27.67% lower mean RMSE than Teacher+ACT; enabling estimation reduces mean RMSE by

22.44\%

relative to the frozen estimator. Pretrained-weight effects remain mixed, and the original teacher comparison exhibits a spiral RMSE--maximum-error tradeoff. Analysis establishes bounded adaptive states and Cartesian feedback, with reference admissibility conditional on governor feasibility.