Rajpal Singh — accepted AI-conference papers

2026

Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems

Rajpal Singh, Aditya Singh, Chidre Shravista Kashyap, Jishnu Keshavan

ICRA 2026poster

This paper presents a novel Koopman operator formulation for Euler–Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decouples a known linear actuation channel from state-dependent dynamics and makes the system more amenable to linear Koopman m…

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2024

Real-Time Constrained Tracking Control of Redundant Manipulators Using a Koopman-Zeroing Neural Network Framework

Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan

RA-L 2024

This letter proposes a combined Koopman-ZNN (Zeroing Neural Network) architecture for real-time control of redundant manipulators subject to input constraints. An autoencoder-based neural architecture is employed to discover the bilinear Koopman model for manipulator dynamics in joint space using in

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