3 papers
cs.RO2026
Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems
Rajpal Singh, Aditya Singh, Jishnu Keshavan
Finite-dimensional Koopman models enable efficient linear prediction and control of nonlinear robotic systems. However, models learned purely from trajectory data may violate the e…
cs.RO2026
Deep Robust Koopman Learning from Noisy Data
Aditya Singh, Rajpal Singh, Jishnu Keshavan
Koopman operator theory has emerged as a leading data-driven approach that relies on a judicious choice of observable functions to realize global linear representations of nonlinea…
cs.RO2025
Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems
Rajpal Singh, Aditya Singh, Chidre Shravista Kashyap +1
This paper presents a novel Koopman operator formulation for Euler Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decoupl…