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Performance of spoken language understanding (SLU) can be degraded with automatic speech recognition (ASR) errors. We propose a novel approach to improve SLU robustness by randomly corrupting clean training text with an ASR error simulator, followed by self-correcting the errors and minimizing the target classification loss in a joint manner. In the proposed error simulator, we leverage confusion networks generated from an ASR decoder without human transcriptions to generate a variety of error patterns for model training. We evaluate our approach on the DSTC10 challenge targeted for knowledge-grounded task-oriented conversational dialogues with ASR errors. Experimental results show the effectiveness of our proposed approach, boosting the knowledge-seeking turn detection (KTD) F1 significantly from 0.9433 to 0.9904. Knowledge cluster classification is boosted from 0.7924 to 0.9333 in Recall@1. After knowledge document re-ranking, our approach shows significant improvement in all knowledge selection metrics, from 0.7358 to 0.7806 in Recall@1, from 0.8301 to 0.9333 in Recall@5, and from 0.7798 to 0.8460 in MRR@5 on the test set. In the recent DSTC10 evaluation, our approach demonstrates significant improvement in knowledge selection, boosting Recall@1 from 0.495 to 0.7144 compared to the official baseline. Our source code is released in GitHub https://github.com/yctam/dstc10_track2_task2.git.