3 papers
cs.RO2026
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
cs.RO2026
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Wenhua Liu, Fan Zhang, Qin Lin
Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynam…
eess.SY2026
Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks
Yichao Wang, Sameeha Tasneem, Mohamadamin Rajabinezhad +4
Ensuring the operational safety of quadrotors under partial actuator failures, lumped external disturbances, and malicious cyberattacks is a critical challenge due to the system's…