Robust Control

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Overview

Robust control studies how to keep dynamical systems stable, safe, and effective when their models are imperfect or conditions change. Common approaches include H-infinity, sliding-mode and adaptive control, tube-based and nonlinear model predictive control, and Lyapunov, invariant-set, reachability, or control-barrier-function methods. Recent work also combines these tools with disturbance observers, learned dynamics, and bounded reinforcement-learning corrections, testing systems such as quadrotors, manipulators, vehicles, and multi-robot teams in simulation and on hardware. A central challenge is balancing formal guarantees against conservatism and computation, while ensuring that learned or adaptive controllers remain reliable under shifts not covered by their training or models.

Latest papers

CardsList

142 papers15 papers in the last four weeks, down 12% on the four weeks before. 0.1% of all new papers.

  1. Delay Randomization Widens the Delay Margin of Learned Humanoid Motion Trackers

    Oct 23, 2026Shaoqin Li, Yi SunHumanoid Robot ControlRobust Control

    Department of Electrical Engineering, The City College of New York, New York, NY 10031, USA

  2. Tilt-Rotor Quadcopter with Learned Residual Control and Mode-Dependent State Estimation

    Oct 22, 2026Ninad Joshi, Prabhat KumarQuadrotor ControlFeedback Control

    Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Hyderabad, India

  3. Certified Neural Approximation of Robust Nonlinear Model Predictive Control

    Oct 21, 2026Hendrik Alsmeier, Maik Pfefferkorn, Rolf FindeisenNeural Network ControlNonlinear MPC

    Control and Cyber-Physical Systems Laboratory, Technical University of Darmstadt, Landgraf-Georg-Str. 4, 64283 Darmstadt, Germany

  4. Online Constraint Optimization-Based Indirect-Adaptive Robust Control for Autonomous Vehicles with Unknown Friction

    Oct 15, 2026Yupeng Zhou, I-Chia Chang, Ziran Wang +1Robust ControlAdaptive Control

    College of Engineering, Purdue University, West Lafayette, IN 47906, USA

  5. CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial Robots

    Oct 15, 2026Seobeom Lee, Hyondong OhAerial RoboticsControl Barrier Functions

    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea

  6. Planning to Learn: Real-Time Robust Adaptive Control on the GPU with Guaranteed Future Learning

    Oct 14, 2026Anutam Srinivasan, Siddhant Panse, Glen ChouReal-Time Robot ControlAdaptive MPC

    Georgia Institute of Technology, School of Electrical & Computer Engineering · Georgia Institute of Technology, Schools of Cybersecurity & Privacy, Aerospace Engineering

  7. Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads

    Oct 9, 2026Manh Cuong Nguyen, Duc Cuong Vu, Viet Anh Vu +5Humanoid Robot ControlAdaptive Control

    VinRobotics, Vingroup, Hanoi 10000, Vietnam · Center for AI Research (CAIR), VinUniversity, Hanoi 10000, Vietnam

  8. WAND: Learning Robust Navigation under Complex Wind Disturbances and Dense Obstacles for Quadrotors

    Oct 8, 2026Zhonghan Tang, Chenhui Li, Shuai Liang +5Disturbance RejectionRobot Navigation

    Department of Electronic Engineering and Information Science, University of Science and Technology of China, Hefei 230027, China · Shanghai Artificial Intelligence Laboratory, Shanghai 200232, China · Northwestern Polytechnical University, Xi’an 710072, China +1

  9. LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference

    Oct 6, 2026Maitham F. AL-Sunni, Timeea-Andreea Radu, Hassan Almubarak +4Safety-Critical ControlControl Barrier Functions

    Department of Electrical & Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA · School of Computer Science & Engineering, Constructor University, Bremen, Germany · Control & Instrumentation Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia +1

  10. Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control

    Oct 4, 2026Lishuo Pan, Mattia Catellani, An Cao +2Safety-Critical ControlControl Barrier Functions

    Department of Computer Science, Brown University, Providence, RI 02912 USA · Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, 41121 Modena, Italy · Division of Physics, Mathematics and Astronomy, California Institute of Technology, Pasadena, CA 91125 USA

  11. Tackling Sim-to-Real Mismatch Through Sampling-Based Disturbance Observers: From Analytical Models to Learned World Models

    Oct 4, 2026Tianqi Zhu, Jun Yang, Jianliang Mao +2Robotic ControlSim-to-Real Transfer

    School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing 210096, China · Robotics and Autonomous Systems Thrust, Systems Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai 200090, China

  12. DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation

    Oct 2, 2026Peng Liu, Jingyan Wang, Qipeng Ye +5Disturbance RejectionUAV Navigation

    School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Institute of Intelligent Unmanned Systems, Southeast University, Nanjing 210096, China. · School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen 361024, China. · Department of Computer Science, University College London, London, WC1E 6BT, UK.

  13. Finite-Data Safety Informativity Under Dynamic Asymmetric Actuation

    Oct 1, 2026Abhinav Sinha, Praveen Kumar Ranjan, Yongcan CaoSafety-Critical ControlRobust Control

    GALACxIS Lab, Department of Aerospace Engineering, University of Cincinnati, Cincinnati, OH 45221, USA · Unmanned Systems Lab (USL), Department of Electrical Engineering, The University of Texas at San Antonio, TX 78249, USA

  14. Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction

    Sep 30, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarRobot Morphology-Control Co-DesignRobust Control

    Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering, University of Cincinnati, OH 45221, USA · Intelligent Systems and Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India

  15. When World Models Lie: Adaptive Safety Analysis Under Wrong Imaginations

    Sep 28, 2026John Cao, Somil BansalReachability AnalysisWorld Models for Robotics

    Department of Aeronautics and Astronautics, Stanford University

  16. Residual Learning-Based Control of Vehicle Platoons with ℓ2\ell_2 Stability Guarantees via Recurrent Equilibrium Networks

    Sep 27, 2026Brian Delgado, Anh-Tu Nguyen, Hamid TaghavifarRecurrent Neural NetworksRobust Control

    Concordia University, Montreal, QC, Canada · Research Center LAMIH UMR CNRS 8201, Université Polytechnique Hauts-de-France, and also with INSA Hauts-de-France, Valenciennes, France

  17. End-to-end QP-based policies: A unified perspective on robust control and robot learning

    Sep 25, 2026Fausto Vega, Priyanka Supraja Balaji, Chase Dunaway +3Robot Policy LearningFeedback Control

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA · Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA

  18. Onboard Wind-Preview Model Predictive Control Using Pitot-Static Sensing for Multirotor UAVs

    Sep 25, 2026Bas Meere, Eline Wisse, Laurens Vousten +4Quadrotor ControlRobust Control

    Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands, in the Control Systems Technology group · Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands, in the Robotics group

  19. LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials

    Sep 23, 2026Oswin So, Eric Yu, Chuchu FanSafety-Critical ControlControl Barrier Functions

    Massachusetts Institute of Technology.

  20. Safety-Filtered Distributed Koopman-MPC

    Sep 23, 2026Shengjun Zhang, Wenhao Li, Zhenxin Lin +1Model Predictive ControlRobot Collision Avoidance

    School of Artificial Intelligence, Hubei University, Wuhan, Hubei, 430061 China · Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, Guangdong, China · School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen), Shenzhen, Guangdong, China +1

  21. Stability-aware Residual Reinforcement Learning Framework for Robotic Manipulator Disturbance Compensation

    Sep 18, 2026Jihong Kim, Joonhyuk Kwon, Hwa Soo Kim +2Input-to-State StabilityRobotic Control

    School of Mechanical Engineering, Hanyang University, Seoul 04763, Republic of Korea · Department of Mechanical System Design, Kyonggi University, Suwon 16227, South Korea · School of Electrical Engineering, Kookmin University, Seoul 02707, South Korea

  22. Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems

    Sep 16, 2026Donggeon David Oh, Duy P. Nguyen, Gongkai Yuan +3Robotic ControlControl Barrier Functions

    Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA

  23. Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs

    Sep 16, 2026Omayra Yago Nieto, Leonardo ColomboSafety-Critical ControlControl Barrier Functions

    Universidad Polit´ecnica de Madrid, Spain · Centre for Automation and Robotics (CSIC-UPM), Ctra. M300 Campo Real, Km 0,200, Arganda del Rey - 28500 Madrid, Spain

  24. Large Language Models in the Loop: A Stability- and Network-Aware Survey in Networked Control, Cyber-Physical, and Multi-Agent Systems

    Sep 15, 2026Haiping Du, Linping ChanLanguage Model-Based ControlCyber-Physical Systems

    School of Engineering, University of Wollongong, Wollongong NSW 2522 Australia

  25. Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems

    Sep 12, 2026Yasin Sonmez, Mahmoud Khaled, Majid Zamani +1Dynamical SystemsSafety-Critical Control

    University of California, Berkeley, USA · Ludwig-Maximilian University, Germany · University of Colorado Boulder, USA

  26. Gradient-Free Neural Hamilton-Jacobi Reachability for Scalable Safety-Critical Control

    Sep 12, 2026Zeyuan Feng, Ali Fuat Sahin, Santiago Thorup +1Reachability AnalysisRobotic Control

    Department of Mechanical Engineering, École Polytechnique Fédérale de Lausanne, Switzerland

  27. Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control

    Sep 12, 2026Xiaobin Zhang, Konstantinos KarydisRobot NavigationNonlinear MPC

    University of California, Riverside, Riverside CA 92551, USA

  28. Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking

    Sep 8, 2026Antoine Besset, Joris Tillet, Chuchu Fan +1Signal Temporal LogicRobust Control

    u2IS, ENSTA, Institut Polytechnique de Paris, France · Univ. Grenoble Alpes, CNRS, Grenoble INP, VERIMAG, France · REALM, AeroAstro, Massachusetts Institute of Technology, Cambridge, USA

  29. Adaptive stabilization of a leaderless bearing-constrained formation with disturbances

    Sep 6, 2026Minh Hoang Trinh, Chuong Van Nguyen, Quoc Van Tran +1Multi-Robot Formation ControlRobust Control

    East Asia University of Technology, Hanoi, Vietnam · Viterbi School of Engineering – Department of Aerospace and Mechanical Engineering, University of Southern California, CA, USA and Ghost Robotics, Philadelphia, PA, USA · Department of Mechatronics, School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam +1

  30. Algorithmic Optimality Guarantees for Nonsmooth H∞H_\infty Output-Feedback Policy Search

    Sep 5, 2026Ashkan Soleymani, Patrick JailletPolicy OptimizationFeedback Control

    Department of Electrical Engineering and Computer Science and the Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.