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. Sampling-Based MuJoCo MPC for Double-Pendulum Sway Suppression on a Shipboard Crane

    Mar 17, 2026Oscar Pang, Lisa Coiffard, Paul Templier +3Robotic ControlRobust Control

    Adaptive and Intelligent Robotics Lab, Department of Computing, Imperial College London, Exhibition Rd, London, SW7 2BX, United Kingdom

  2. Optimal control of differentially flat underactuated planar robots in the perspective of oscillation mitigation

    Mar 16, 2026Stefano Lovato, Michele Tonan, Matteo Bottin +3Robotic ControlOptimal Control

    Department of Industrial Engineering, University of Padova, Via Venezia 1, Padova, Italy

  3. Robust Co-design Optimisation for Agile Fixed-Wing UAVs

    Mar 11, 2026Adrian Andrei Buda, Xavier Chen, Nicolò Botteghi +1Robot Morphology-Control Co-DesignAerial Robotics

    Department of Aeronautics, Imperial College London, United Kingdom · Department of Mathematics, Politecnico di Milano, Italy

  4. Efficient and robust control with spikes that constrain free energy

    Mar 10, 2026André Urbano, Pablo Lanillos, Sander KeeminkRobust ControlSpiking Neural Networks

    Cajal Neuroscience Center, Spanish National Research Council, Madrid, Spain · Department of Machine Learning and Neural Computing, Donders Institute for Brain Cognition and Behaviour, Radboud University, Nijmegen, The Netherlands

  5. Adaptive SINDy: Residual Force System Identification Based UAV Disturbance Rejection

    Mar 9, 2026Fawad Mehboob, Amir Atef Habel, Roohan Ahmed Khan +3Disturbance RejectionRobust Control

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology, Moscow, Russia.

  6. Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds

    Mar 9, 2026Philipp Schitz, Johann C. Dauer, Paolo MercorelliRobot Trajectory TrackingAerial Robotics

    Institute of Flight Systems, German Aerospace Center (DLR), 38108 Braunschweig, Germany · Institute for Production Technology and Systems, Leuphana University of Lueneburg, 21335 Lueneburg, Germany

  7. Physics-infused Learning for Aerial Manipulator in Winds and Near-Wall Environments

    Mar 8, 2026Yiming Zhang, Junyi GengAerial ManipulationRobust Control

    The Pennsylvania State University, University Park, PA 16802

  8. Stability-Aligned Residual Adaptation for Rapid Recovery from Dynamics Shifts

    Mar 8, 2026Nethmi Jayasinghe, Diana Gontero, Francesco Migliarba +4Robot Policy AdaptationResidual Policy Learning

    Department of Electrical and Computer Engineering, University of Illinois Chicago, Chicago, IL, USA. · Department of Neurobiology, Northwestern University, Evanston, IL, USA. · Department of Materials Science and Engineering, Northwestern University, Evanston, IL, USA. +2

  9. Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy

    Mar 6, 2026Hozefa Jesawada, Giovanni Russo, Abdalla Swikir +1Robust ControlDistributionally Robust RL

    Mechanical Engineering Program, New York University Abu Dhabi, Abu Dhabi, UAE. · Department of Information and Electrical Engineering & Applied Mathematics, University of Salerno, Fisciano, Italy. · Mohammed bin Zayed University for Artificial Intelligence, Abu Dhabi, UAE.

  10. Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow

    Mar 5, 2026Yanda Yang, Sambeeta DasRobot Trajectory TrackingContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

  11. Safe and Robust Domains of Attraction for Discrete-Time Systems: A Set-Based Characterization and Certifiable Neural Network Estimation

    Mar 3, 2026Mohamed Serry, Maxwell Fitzsimmons, Jun LiuRobust ControlValue Function Estimation

    department of Applied Mathematics, University of Waterloo, Waterloo, Ontario, Canada · Department of Mechanical and Mechatronics Engineering at the University of Waterloo

  12. Robust Helicopter Ship Deck Landing With Guaranteed Timing Using Shrinking-Horizon Model Predictive Control

    Feb 26, 2026Philipp Schitz, Paolo Mercorelli, Johann C. DauerAerial RoboticsModel Predictive Control

    Institute of Flight Systems, German Aerospace Center (DLR), 38108 Braunschweig, Germany · Institute for Production Technology and Systems, Leuphana University of Lueneburg, 21335 Lueneburg, Germany

  13. Robust Taylor-Lagrange Control for Safety-Critical Systems

    Feb 23, 2026Wei Xiao, Christos Cassandras, Anni LiSafety-Critical ControlRobust Control

    Robotics Engineering Department at Worcester Polytechnic Institute · MIT CSAIL, USA · the division of Systems Engineering at Boston University, USA +1

  14. Continual Uncertainty Learning for Robust Control of Nonlinear Systems with Multiple Heterogeneous Uncertainties

    Feb 19, 2026Heisei Yonezawa, Ansei Yonezawa, Itsuro KajiwaraRobust ControlRobust RL

    Division of Mechanical and Aerospace Engineering, Hokkaido University N13, W8, Kita-ku, Sapporo, Hokkaido 060-8628, Japan · Faculty of Information Science and Technology, Hokkaido University Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

  15. Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation

    Feb 17, 2026Branimir Ćaran, Vladimir Milić, Marko Švaco +1PID ControlRobot Trajectory Tracking

    Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb HR-10000, Croatia · Croatian Academy of Sciences and Arts, Zagreb 10000, Croatia

  16. Periodic robust robotic rock chop via virtual model control

    Aug 4, 2025Yi Zhang, Fumiya Iida, Fulvio ForniContact-Rich Robotic ManipulationRobust Control

    University of Cambridge, United Kingdom · University of Tokyo, Japan

  17. Differentiable Physics-Informed Adaptive Koopman Control for Stable Flight under Unknown Disturbances

    Jun 10, 2025Ao Jin, Qiujin Liang, Tao Zhang +2Robot Trajectory TrackingRobust Control

    Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China · Department of Automation, Tsinghua University, Beijing 100080, China

  18. Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment

    May 20, 2025Mahdi Hejrati, Pauli Mustalahti, Jouni MattilaRobot TeleoperationRobust Control

    Department of Engineering and Natural Sciences, Tampere University, Tampere, Finland

  19. Tube-Based Robust Control Strategy for Vision-Guided Autonomous Vehicles

    Mar 24, 2025Der-Hau LeeAutonomous DrivingRobust Control

    Department of Electrophysics, National Yang Ming Chiao Tung University, Hsinchu 300, Taiwan

  20. Safe Learning Control with Optimality and Stability Guarantees

    Jan 26, 2025Xinyang Wang, Hongwei Zhang, Shimin Wang +2Control Barrier FunctionsRobust 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

  21. Deep Reinforcement Learning for Reach-Avoid-Stay Problems

    Oct 3, 2024Gabriel Chenevert, Jingqi Li, Achyuta kannan +2Robust ControlReinforcement Learning

    Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, USA · Department of Aerospace Engineering and Engineering Mechanics, at University of Texas, Austin, USA · Department of Computer Science, North Carolina State University, Raleigh, USA +1

  22. Certified Robust Invariant Polytope Training in Neural Controlled ODEs

    Aug 2, 2024Akash Harapanahalli, Samuel CooganNeural Controlled Differential EquationsRobust Control

    School of Electrical and Computer Engineering, Georgia Institute of Technology