arXiv subjects

Wenhua Liu

Publications and source records attributed to Wenhua Liu.

3 recordsLinked to original sources

arXiv2026

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

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.

cs.RO↗

arXiv2026

Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation

Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynamic uncertainties. Classical operational space computed torque controller (OSCTC) relies on accurate dynamic models and degrades in the presence of disturbances. In contrast, the data-driven paradigm of residual learning approximates disturbances as functions learned from full-state measurements, which are often noisy in practice, lack rigorous theoretical guarantees, and introduce additional design complexity. This paper proposes a robust OSCTC framework that integrates an extended state observer (ESO) with conformal prediction to combine model-based robustness and data-driven adaptability. The ESO estimates lumped disturbances directly in operational space without requiring full-state measurements as in residual learning, and a robust control barrier function (CBF) is constructed to enforce safety under uncertainty. However, robust CBFs require a known disturbance-variation bound to guarantee absolute safety, which often leads to conservatism in practice. To address this limitation, we further employ a sliding-window conformal prediction mechanism to estimate the bound online in a distribution-free manner, thereby achieving practical probabilistic safety guarantees. Experiments on a 7-DoF Franka Research 3 manipulator demonstrate millimeter-level tracking accuracy and real-time safe control at 1~kHz under various disturbances.

cs.RO↗

arXiv2022

Asymmetric phenomenon of flow and heat transfer in charging process of thermal energy storage based on an entire domain model

Phase change energy storage is getting increasing attention as a representative technology to achieve carbon neutrality. The phase change process exists typical phenomenon of asymmetry that affects the energy storage performance. However, the mechanism of asymmetry is currently lack of elaboration because the half domain model is always used to simplify the numerical simulation and avoid the appearance of asymmetry. In this study, the entire domain model and boundary conditions were adopted and numerically simulated for the melting process of paraffin wax, i.e., the charging process of energy storage. The nonlinear dynamics method was applied to explain the asymmetric flow and heat transfer phenomenon. The three-stage characteristic based on charging speed was proposed for charging process and was explained by thermal conduction or natural convection. The asymmetric phenomenon was elaborated on the cause of formation, change mechanism, and effect evaluation. Results show that natural convection accounts for the multiple solutions (including the asymmetric ones) of charging process. It is also pointed out that asymmetric solutions can exist under symmetric geometry structure. To accurately solve the charging process, it is necessary to use the entire domain model. Both the charging speed and energy storage capacity have a positive correlation with asymmetry. Thus, a potential idea for energy storage application was proposed to increase the charging speed; that is, adding thermal disturbance during the melting process to destroy flow stability and to enhance convective heat transfer. The research methods and findings will support the development of energy storage and numerical investigation in other related areas.

physics.flu-dyn↗