Robust Control

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9 papers in the last four weeks, up 125% on the four weeks before. 0.1% of all new papers.

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Latest papers 94

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T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics
May 24, 2026Zeyu Shen, Zhuoyuan Wang, Laixi ShiOnline System Identification Robust Control
Department of Applied Mathematics and Statistics, Johns Hopkins University, MD, USA. · Department of Electrical and Computer Engineering, Carnegie Mellon University, PA, USA. · Department of Electrical and Computer Engineering, Johns Hopkins University, MD, USA.
Fully Actuated Manifold Constraint Based Output Feedback Control for Input-Constrained Uncertain Nonlinear Systems
May 20, 2026Dianrui Mu, Changchun Hua, Yafeng Li +2Robust Control Feedback Control
Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
May 19, 2026James Wade, Isaac Weaver, Mihai Stanciu +1Robot Trajectory Tracking Robust Control
Ira A. Fulton College of Engineering, Mechanical Engineering Department, Brigham Young University, Provo, Utah, USA
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
May 18, 2026Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2Contact-Rich Robotic Manipulation Robust Control
Yale University, New Haven, CT, USA · Ghent University, Belgium · Georgia Institute of Technology, Atlanta, GA, USA +1
Active Defense Against False Data Injection Attacks in Robotic Manipulators
May 18, 2026Gabriele Gualandi, Carl Mikael Larsson, Alessandro V. PapadopoulosRobotic Control False Data Injection Attacks
Mälardalen University, Väster˚as, Sweden
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
May 14, 2026Abdelhakim Amer, Aske Alstrup, Frederik Rasmussen +3Robotic Control Robust Control
Artificial Intelligence in Robotics Laboratory (AiR Lab), Department of Electrical and Computer Engineering, Aarhus University, 8000 Aarhus C, Denmark · EIVA a/s, 8660 Skanderborg, Denmark · Automatic Control Group (RAT), Department of Electrical Engineering and Information Technology, Paderborn University, Paderborn, Germany
BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots
May 12, 2026Yu Mei, Xinyu Zhou, Vedant Naik +2Robotic Control Robust Control
Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
Control of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion
May 12, 2026Ali Sidar Yilmaz, Buday Turan, Lukas Pries +1Aerial Robotics Robust Control
Professorship of Autonomous Aerial Systems, School of Engineering and Design, Technical University of Munich, Lise-Meitner-Str. 9, 85521 Ottobrunn, Germany
ASACK : Adaptive Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
May 10, 2026Chandan Kumar Sah, Rajpal Singh, Jishnu KeshavanKoopman Operator Learning Robust Control
Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka 560012, India
Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
May 8, 2026Giuseppe Silano, Martin SaskaIndustrial Inspection Robust Control
Ricerca sul Sistema Energetico S.p.A., Milan, Italy, and the Czech Technical University in Prague, Czechia · Czech Technical University in Prague, Czechia
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
May 7, 2026Benedetta Rota, Mirko Mizzoni, Amr Afifi +2Aerial Robotics Robust Control
Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy · Robotics and Mechatronics group, Faculty of Electrical Engineering, Mathematics, and Computer Science (EEMCS), University of Twente, 7500 AE Enschede, The Netherlands · School of Aerospace, Mechanical, and Mechatronic Engineering (AMME), Faculty of Engineering, University of Sydney, NSW, 2006, Australia
Robust $\mathcal{H}_\infty$ Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
May 6, 2026Tom Aantjes, Till M. Blaha, Spilios Theodoulis +1Robust Control Quadrotor Control
Faculty of Aerospace Engineering, Delft University Of Technology, 2629HS, Delft, Zuid Holland, The Netherlands
Bilinear Mamba-Koopman Neural MPC for Varying Dynamics
May 6, 2026Matan Pagi, Zohar SorekDynamical Systems Koopman Operator Learning
Psistar AI
Tightly-Coupled Estimation and Guidance for Robust Low-Thrust Rendezvous via Adaptive Homotopy
May 6, 2026Batu Candan, Simone ServadioTrajectory Optimization Spacecraft Rendezvous and Proximity Operations
Department of Aerospace Engineering, Iowa State University, Ames, IA 50011.
Bio-plausible Neuromorphic Disturbance Observer Based on Emulation Theory: Extended Version
May 5, 2026Hongfu Xu, Xiaoyu Guo, Shengbo Wang +1Robust Control Spiking Neural Networks
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China · Department of Mechanical Engineering, City University of Hong Kong, Hong Kong · Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong +1
Robust Path Tracking for Vehicles via Continuous-Time Residual Learning: An ICODE-MPPI Approach
May 5, 2026Shugen Song, Wenjie Mei, Chengyan ZhaoNonlinear MPC Residual Learning
School of Automation, Southeast University, Nanjing 210096, China · School of Automation and the Key Laboratory of MCCSE of the Ministry of Education, Southeast University, Nanjing 210096, China · Graduate School of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka-shi, Fukuoka, Japan
Stable Agentic Control: Tool-Mediated LLM Architecture for Autonomous Cyber Defense
May 4, 2026Kerri Prinos, Lilianne Brush, Cameron Denton +5Autonomous Cyber Defense Language Model-Based Control
Horizon3.ai San Francisco, CA
Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms
May 4, 2026Péter Antal, Andrea Carron, Melanie Zeilinger +2Robust Control Model Predictive Control
Systems and Control Lab, HUN-REN Institute for Computer Science and Control, Budapest, Hungary · Institute for Dynamic Systems and Control, ETH Zürich, Zürich, Switzerland · Control Systems Group of the Eindhoven University of Technology, Eindhoven, The Netherlands
Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
Apr 28, 2026Giuseppe Silano, Quentin Sablé, Marco Tognon +2Aerial Robotics Nonlinear MPC
Ricerca sul Sistema Energetico S.p.A., Milan, Italy, and Czech Technical University, Prague, Czechia · University of Twente, Enschede, The Netherlands · University of Rennes, CNRS, Inria, IRISA, 35042, France +2
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Apr 28, 2026Ziqing Zou, Ke Qiu, Fei Wang +3Robot Trajectory Tracking Robot Dynamics Learning
Department of Control Science and Engineering, Zhejiang University, Hangzhou, China
VISION-SLS: Safe Perception-Based Control from Learned Visual Representations via System Level Synthesis
Apr 27, 2026Antoine P. Leeman, Shuyu Zhan, Melanie N. Zeilinger +1Safety-Critical Control Robust Control
Institute for Dynamic Systems and Control, ETH Zürich · Georgia Institute of Technology, Schools of 2Interactive Computing, 3Aerospace Engineering
Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
Apr 27, 2026Shubham Sawarkar, P Sangeerth, S Saharsh +1Robot Trajectory Tracking Mobile Robotics
Centre for Cyber-Physical Systems and Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India. · Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India.
Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Apr 26, 2026Teng Xue, Alberto Rigo, Bingjian Huang +4Robot Policy Learning Contact-Rich Robotic Manipulation
Meta Reality Labs Research · Idiap Research Institute · École Polytechnique Fédérale de Lausanne (EPFL) +2
Architectures for Robust Self-Organizing Energy Systems under Information and Control Constraints
Apr 23, 2026Emilie Frost, Astrid NießeCyber-Physical Systems Robust Control
Department of Computing Science, Carl von Ossietzky Universität Oldenburg, Ammerländer Heerstraße 114-118, Oldenburg, Germany · Distributed Artificial Intelligence, OFFIS - Institute for Information Technology, Escherweg 2, Oldenburg, Germany
MetaTune: Adjoint-based Meta-tuning via Robotic Differentiable Dynamics
Mar 28, 2026Xiexin Peng, Bingheng Wang, Tao Zhang +2Robust Control Feedback Control
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China · Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583, Singapore · Wuhan Zhenyou Technology Co., Ltd., Wuhan 430205, China
Sampling-Based MuJoCo MPC for Double-Pendulum Sway Suppression on a Shipboard Crane
Mar 17, 2026Oscar Pang, Lisa Coiffard, Paul Templier +3Robotic Control Robust Control
Adaptive and Intelligent Robotics Lab, Department of Computing, Imperial College London, Exhibition Rd, London, SW7 2BX, United Kingdom
Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow
Mar 5, 2026Yanda Yang, Sambeeta DasRobot Trajectory Tracking Contact-Rich Robotic Manipulation
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA
Differentiable Physics-Informed Adaptive Koopman Control for Stable Flight under Unknown Disturbances
Jun 10, 2025Ao Jin, Qiujin Liang, Tao Zhang +2Robot Trajectory Tracking Robust Control
Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China · Department of Automation, Tsinghua University, Beijing 100080, China
Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment
May 20, 2025Mahdi Hejrati, Pauli Mustalahti, Jouni MattilaRobot Teleoperation Robust Control
Department of Engineering and Natural Sciences, Tampere University, Tampere, Finland
Safe Learning Control with Optimality and Stability Guarantees
Jan 26, 2025Xinyang Wang, Hongwei Zhang, Shimin Wang +2Control Barrier Functions Robust Control
Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments, School of Intelligence Science and Engineering, Harbin Institute of Technology, Shenzhen, Guangdong 518055, China · School of Data Science, Lingnan University, Hong Kong · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, with M3S, SMART, and with MIT CSAIL +1

May 24, 2026, cs.LGJ/K move · Enter open · S save

T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics

Zeyu Shen, Zhuoyuan Wang, Laixi Shi

Department of Applied Mathematics and Statistics, Johns Hopkins University, MD, USA. · Department of Electrical and Computer Engineering, Carnegie Mellon University, PA, USA. · Department of Electrical and Computer Engineering, Johns Hopkins University, MD, USA.

Online System Identification Robust Control Model Predictive Control

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Recent advances in learning-based model predictive control (MPC) have leveraged neural networks for online model learning, achieving strong performance when nonstationary system dynamics deviate from nominal models. However, existing approaches primarily address specific or relatively structured forms of dynamical variation, leaving more general, unknown, and unpredictable time-varying dynamics insufficiently handled. To tackle this challenge, we propose T2S-MPC, a framework that adaptively learns a residual dynamics model online and integrates it with the nominal model within the MPC framework to enable fast-evolving online planning. To make the model time-aware, we explicitly encode temporal information through a structured time embedding and employ a two-timescale update scheme, allowing the controller to capture nonstationary dynamics while balancing rapid adaptation with stable learning. We evaluate the proposed method on a 2D quadrotor across stabilization and trajectory tracking tasks under diverse time-varying disturbances, including linear drifting and periodic perturbations. Experimental results show that T2S-MPC consistently outperforms classical MPC, neural MPC, and ablated variants in control performance, while also demonstrating strong robustness across a wide range of disturbance conditions without additional tuning. The source code is publicly available at https://github.com/Zeyuu0920/T2S_MPC

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