Author

J. Keshavan

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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

This work presents a structure-preserving Koopman framework for Euler-Lagrange systems built on generalized-momentum coordinates, and demonstrates improved prediction accuracy, data efficiency, and closed-loop tracking over Koopman baselines, with increasing gains for higher-dimensional systems.

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