Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems
Rajpal Singh, Chandan Kumar Sah, Jishnu Keshavan
International Journal of Robotics Research.
DOI: 10.1177/0278364925134190 .
Arxiv Version
Github RepositoryReal-Time Constrained Tracking Control of Redundant Manipulators Using a Koopman-Zeroing Neural Network Framework
Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan
IEEE Robotics and Automation Letters.
DOI: 10.1109/LRA.2024.3349966.
Github RepositoryControl barrier functions in dynamic uavs for kinematic obstacle avoidance: A collision cone approach
Manan Tayal, Rajpal Singh, Jishnu Keshavan, Shishir Kolathaya
2024 American Control Conference (ACC).
DOI: 10.23919/ACC60939.2024.10644548.A Provably Constrained Neural Control Architecture With Prescribed Performance for Fault-Tolerant Redundant Manipulators
Rajpal Singh, Jishnu Keshavan
IEEE Access, vol. 10, pp. 97719-97732, 2022.
DOI: 10.1109/IRIA53009.2021.9588698.
Github RepositoryApproximation-Free Robust Tracking Control of Unknown Redundant Manipulators With Prescribed Performance and Input Constraints
Rajpal Singh, Jishnu Keshavan
IEEE Transactions on Systems, Man, and Cybernetics: Systems.
DOI: 10.1109/TSMC.2024.3444030.
Github RepositoryAn Overview of Data-Driven Paradigms for Identification and Control of Robotic Systems
Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan
Journal of the Indian Institute of Science.
DOI: 10.1007/s41745-025-00464-w.