I'm on ESA / PIP but would like to try part time work. On tax credits (which we are as a family) could do this and be eligible for the working disability element. This would mean less of a drop in income.
assets.publishing.service.gov.uk/government/uploads/system/uploads/attachment_data/file/645408/TC956_Disability_Helpsheet.pdf
Checked with tax credits and would be able to do this, but Universal credit is coming in soon. So it wouldn't be available on that I don't think.