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.

Real-Time Constrained Tracking Control of Redundant Manipulators Using a Koopman-Zeroing Neural Network Framework
Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan
IEEE RAL.
DOI: 10.1109/LRA.2024.3349966.