Skip to content
Log in
Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

J. Keshavan

h-index 10 View on Semantic Scholar

We have 3 of 50 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

Derivative-Free Generalized Multivariable Super-Twisting Control for Constrained Euler-Lagrange Systems

Robotic manipulators performing payload lift-and-transfer must track prescribed trajectories under abrupt load changes, with limited actuation and inaccurate plant knowledge. Such plants are inherently described by multivariable Euler--Lagrange~(EL) dynamics with cross-coupling established through inertial and Coriolis...

Chidre Shravista Kashyap, J. Keshavan · 0 citations
Preprint Sep 2026

Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters

Multi-robot Control Barrier Function (CBF) safety filters can become infeasible, but a failed quadratic program (QP) does not indicate why the conflict occurred or how to resolve it. To address this, we develop an exact feasibility certificate for multi-agent CBF filters with heterogeneous control-affine dynamics and c...

Chandan Kumar Sah, J. Keshavan · 0 citations
Preprint Sep 2026

Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems

Finite-dimensional Koopman models enable efficient linear prediction and control of nonlinear robotic systems. However, models learned purely from trajectory data may violate the energetic structure of the underlying mechanics, producing predictions that exhibit artificial energy growth and diverge under recursive prop...

Rajpal Singh, Aditya Singh, J. Keshavan · 0 citations

We use cookies to run the site and, with your consent, for analytics and to show ads. See our Cookie Policy.