Before revision:  Simulation results for perturbed nonlinear systems show that the LAG-ROS achieves higher control performance and task success rate with faster execution speed for real-time computation, when compared with the existing real-time robust MPC and learning-based feedforward motion planners.
After revision:  Simulation results for perturbed nonlinear systems show that the LAG-ROS achieves higher control performance and task success rate with faster execution speed for real-time computation, when compared with the existing real-time robust MPC and learning-based motion planners.