Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control

• URL: http://arxiv.org/abs/2607.06535v1
• Date: Tue, 07 Jul 2026 17:41:38 GMT
• Title: Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
• Abstract summary: We present a learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO)<n>Unlike existing learning-based control methods that largely rely on the learned model once deployed, Neural-ESO adopts a dual-pathway architecture.<n>We show that enforcing a Lipschitz bound on the learning component guarantees uniform ultimate boundedness of the closed-loop error dynamics.
• Score: 5.565368627826789
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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 methods that largely rely on the learned model once deployed, Neural-ESO adopts a dual-pathway architecture: a predictive pathway uses a neural network to provide a feedforward disturbance estimate that accelerates convergence, while a corrective pathway employs a conventional ESO to compensate prediction errors and prevent over-reliance on the neural component. Using Lyapunov theory and a small-gain analysis, we show that enforcing a Lipschitz bound on the learning component guarantees uniform ultimate boundedness of the closed-loop error dynamics. The proposed framework is validated on a quadrotor landing task subject to strong ground-effect disturbances across normal and out-of-distribution scenarios, demonstrating accuracy-robustness trade-off and greater operational reliability during training, deployment, and transfer compared with state-of-the-art baselines.

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