Adaptive Controller

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Period ending 2026-09-21

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Period ending 2026-09-14

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67 papers

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The Source of Disturbance Matters: External, Internal, and Control-Generated Noise in Adaptive Regulation
Sep 22, 2026Veronique ZieglerAdaptive Controller
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
Sep 21, 2026Zijian Cai, Kiwan Wong, Wenci Xin +3Control Barrier Functions Adaptive Controller
Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults
Sep 15, 2026Linan Deng, Xing Liu, Lin Hong +4Dexterous Manipulation Adaptive Controller
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Sep 15, 2026Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3Hydraulic Excavators Adaptive Controller
Learning to adapt GR(1) specifications through degradation
Sep 14, 2026Tiberiu-Andrei Georgescu, Dalal Alrajeh, Sebastian UchitelAdaptive Controller Automated Synthesis Techniques
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
Sep 9, 2026Henry Ascencio Trejo, Roel Pieters, Gokhan AlcanAdaptive Controller Rationality
Networked Admissibility-Preserving Control for Directed Safe Coordination
Sep 8, 2026Abhinav Sinha, Lohitvel Gopikannan, Shashi Ranjan KumarAdaptive Controller Global Coordination
On Global Regulatability of Robot Manipulators by Classical PID
Sep 1, 2026Cheng Zhao, Jingru Zhu, Lei GuoAdaptive Controller Robotic Arms
TDMA Based Communications Control Co-Design for Cooperative Carrying: Delay Calibration and Sampling-Rate Optimization
Aug 10, 2026Zahra Seifaei, Maximilian Luebke, Torsten Reissland +2Multi-Robot Systems Adaptive Controller
Scalable High-Speed Lateral Control for Single-Body and Articulated Autonomous Vehicles
Aug 8, 2026Aashish Shaju, Steve Southward, Mehdi AhmadianVehicle Dynamics Adaptive Controller
A MARL Centered Reference Architecture for Large Language Model Augmentation in Smart Manufacturing
Aug 7, 2026Fouad Bahrpeyma, Dirk ReicheltMulti-Agent Reinforcement Learning Iterative Reinforcement Learning
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
Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots
Jul 29, 2026Wenbo Gao, Yaoyao Wang, Jiawang Chen +2Adaptive Controller Robotic Arms
Observer-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 Adaptive Controller
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 ZieglerAdaptive Controller Agentic Control
When Can Safe Controllers Adapt? Information before Commitment
Jul 18, 2026Venkatesh SaligramaAdaptive Controller Safety Constraints
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Jul 15, 2026Annika Kirner, Grazia Zambella, Igor Kovacevic +3Adaptive Controller Robotic Arms
Distributionally Robust and Safe Imitation Learning
Jul 15, 2026Ahmed Aboudonia, Naira HovakimyanImitation Learning Adaptive Controller
Co-Adaptive Multi-Task LoRA: Transfer-Aware, Label-Free Control of Domain Participation
Jul 3, 2026Wei Zhang, Lin Tang, Ming Zhao +1Domain Adaptation Low-Rank Adaptation Adapters
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Jul 3, 2026Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6Perceptive Locomotion Policies Adversarial Motion Priors
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
Jul 3, 2026Sixu Li, Nitesh Kumar, Reyshwanth Ganeshan +3Vehicle Dynamics Adaptive Controller
QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles
Jul 2, 2026Pedro Santos, Joel Reis, Paulo Oliveira +1Quadrotor Flight Adaptive Controller
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Jul 1, 2026Wenhua Liu, Fan Zhang, Qin LinRobotic Arms Adaptive Controller
When Regulation Has Memory: Hysteresis and Control Burden in Artificial Agency
Jun 29, 2026Veronique ZieglerAdaptive Controller Agentic Control
FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
Jun 26, 2026Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare +3Long-Tail Humanoid Whole-Body Control Inverse Dynamics
Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems
Jun 26, 2026Frederik Werner, Till Heintzenberg, Markus Lienkamp +1Vehicle Dynamics Adaptive Controller
Resilient Output Containment under Undisclosed Leader Dynamics and Actuator Attacks
Jun 25, 2026Mohammadreza Nematollahi, Khashayar Khorasani, Nader MeskinAdaptive Controller 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
Conformal Recovery-Deadline Certificates for Runtime Assurance of Adapting Controllers
Jun 24, 2026Alireza ShojaeiRuntime Enforcement Fault Tolerance
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 Formation Control Adaptive Controller
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 Adaptive Controller
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Perceptive Locomotion Policies Ground Reaction Forces
Structural Distinguishability of Static and Adaptive Policy Regimes in Agent-Based Regulatory Simulation
Jun 15, 2026Roberto GarroneAgent-Based Model Regulation
Distributed Safe Consensus Under Asymmetric Input and Time-Varying Output Constraints
Jun 15, 2026Abhinav Sinha, Shashi Ranjan KumarSafety Constraints Adaptive Controller
AdaTT: Text-Guided Instrument Timbre Transfer with Target-Adaptive Structural Control
Jun 14, 2026Dabin Kim, Junwon Lee, Juhan NamAdaptive Controller
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
Merging model-based control with multi-agent reinforcement learning for multi-agent cooperative teaming strategies
Jun 4, 2026Christian Llanes, Spencer W. Jensen, Samuel CooganMulti-Agent Reinforcement Learning Model Predictive Control
OLIVE: Online Low-Rank Incremental Learning for Efficient Adaptive Exoskeletons
Jun 3, 2026Dong Liu, Yanxuan Yu, Ben Lengerich +2Exoskeleton Adaptive Controller
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Jun 2, 2026Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1Dexterous Manipulation Hand
Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction
May 30, 2026Danyal Saqib, Francisco Andrade Chavez, Marie CharbonneauAdaptive Controller Actuator
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 +5Adaptive Controller Lyapunov Function
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
May 27, 2026Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2Impedance Control Control Barrier Functions
Energy Shields for Fairness
May 24, 2026Filip Cano, Thomas A. Henzinger, Konstantin KueffnerShielding Runtime Enforcement
Meta-Learning for Rapid Adaptation in Reference Tracking of Uncertain Nonlinear Systems
May 21, 2026Jiaqi Yan, Ankush Chakrabarty, Niklas Schmid +2Adaptive Controller Meta-Learning
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
May 19, 2026James Wade, Isaac Weaver, Mihai Stanciu +1Adaptive Controller Fault Tolerance
SPIKE: An Adaptive Dual Controller Framework for Cost-Efficient Long-Horizon Game Agents
May 18, 2026Wencan Jiang, Jiangning Zhang, Jianbiao Mei +6Agentic Control Reactive
Learning-Based Adaptive Control for Surgical Robotic Exposure Task on Deformable Tissues
May 18, 2026Jiayi Liu, Kaiqi Wei, Yiwei Wang +2Robot-Assisted Minimally Invasive Surgery Adaptive Controller
Adaptive Outer-Loop Control of Quadrotors via Reinforcement Learning
May 15, 2026Vishnu Saj, Sushil Vemuri, Dileep Kalathil +1Quadrotor Control Adaptive Controller
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
May 13, 2026Yuqi Li, Peng Zhai, Yueqi Zhang +5Legged Robots Adaptive Locomotion
Control Charts for Multi-agent Systems
May 11, 2026Hayden Helm, Carey Priebe, Brandon DuderstadtMulti-Agent Systems Adaptive Controller
ASACK : Adaptive Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
May 10, 2026Chandan Kumar Sah, Rajpal Singh, Jishnu KeshavanAdaptive Controller Model Predictive Control
AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs
May 7, 2026Jiawei Xu, Longsen Gao, Rafael Fierro +1Aerial Robots Adaptive Controller
Learned Lyapunov Shielding for Adaptive Control
May 7, 2026Giansalvo Cirrincione, Adriano FagioliniAdaptive Controller Lyapunov Function
Temporal Attention for Adaptive Control of Euler-Lagrange Systems with Unobservable Memory
May 7, 2026Giansalvo Cirrincione, Adriano FagioliniAdaptive Controller Actuator
Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
May 6, 2026Sadeq Yaqubi, Jouni MattilaAdaptive Controller Robotic Arms
Provable imitation learning for control of instability in partially-observed Vlasov--Poisson equations
May 6, 2026Xiaofan Xia, Qin Li, Wenlong MouPlasma Shape Control Imitation Learning
Passive Variable Impedance For Shared Control
Apr 22, 2026Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4Impedance Control Adaptive Controller

Sep 22, 2026 · cs.AIJ/K move · Enter open · S save

The Source of Disturbance Matters: External, Internal, and Control-Generated Noise in Adaptive Regulation

Veronique Ziegler

Adaptive regulation can itself perturb the state it is intended to stabilize. In replicated simulations of an adaptive agent, we compare external disturbance, persistent internally generated disturbance, and control-generated disturbance under regulation-first and disturbance-first ordering. Persistent internal disturbance produces the largest exposure and regulatory burden within the tested parameter grid. When positive controller updates generate an immediate disturbance cost, increasing that cost produces a nonmonotonic response: effective disturbance initially rises, variability across stochastic runs increases over an intermediate range, and corrective activity becomes strongly suppressed at higher costs. The results show how disturbance source and timing shape exposure and controller burden in this model. They motivate testing adaptive agents with distinct disturbance sources and assessing regulatory activity alongside exposure.