Journal Publications

• Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems
  Rajpal Singh, Chandan Kumar Sah, Jishnu Keshavan
  International Journal of Robotics Research, 2025.
  DOI: 10.1177/0278364925134190 .
  Arxiv Version
  Github Repository

• Real-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, 2024.
  DOI: 10.1109/LRA.2024.3349966.
  Github Repository

• Deep Robust Koopman Learning from Noisy Data
  Aditya Singh,Rajpal Singh,Jishnu Keshavan
  Arxiv, Preprint 2026.
  Arxiv Version
  

• 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 Repository

• Approximation-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, 2024.
  DOI: 10.1109/TSMC.2024.3444030.
  Github Repository

• An 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, 2024.
  DOI: 10.1007/s41745-025-00464-w.
  

Conference Publications

• Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems
  Rajpal Singh, Aditya Singh, Chidre Shravista Kashyap,Jishnu Keshavan
  accepted to IEEE ICRA 2026.
  Arxiv Version
  Github Repository

• Control 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.
  

Book Chapters

• Data-Driven Approaches to Real-Time Constrained Tracking Control of Redundant Manipulators
  Rajpal Singh, Chandan Kumar Sah,Jishnu Keshavan
  Assistive Robotics, Vol. 2, Taylor & Francis, 2026.
  Chapter Link