48 citations · 150 across the 27 of their papers we have counts for
27 papers
On the solvability of parameter estimation-based observers for nonlinear systems
Bowen Yi, Leyan Fang, Romeo Ortega
Parameter estimation-based observer (PEBO) is a recently developed constructive tool to design state observers for nonlinear systems. It reformulates the state estimation problem a…
On IMU preintegration: A nonlinear observer viewpoint and its application
Bowen Yi, Ian R. Manchester
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propo…
PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees
Bowen Yi, Chi Jin, Lei Wang +3
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case o…
Stability Analysis of Trajectories on Manifolds with Applications to Observer and Controller Design
Dongjun Wu, Bowen Yi, Anders Rantzer
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a…
Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots
Bowen Yi, Yeman Fan, Dikai Liu +1
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scena…
A high performance globally exponentially stable sensorless observer for the IPMSM: Theoretical and experimental results
Bowen Yi, Romeo Ortega, Jongwon Choi +1
In a recent paper [18] the authors proposed the first solution to the problem of designing a {\em globally exponentially stable} (GES) flux observer for the interior permanent magn…
Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design
Bowen Yi, Lei Wang, Ian R. Manchester
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition…
Globally convergent visual-feature range estimation with biased inertial measurements
Bowen Yi, Chi Jin, Ian R. Manchester
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements a…
Learning Stable Koopman Embeddings
Fletcher Fan, Bowen Yi, David Rye +2
In this paper, we present a new data-driven method for learning stable models of nonlinear systems. Our model lifts the original state space to a higher-dimensional linear manifold…
Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
Jose Guadalupe Romero, Bowen Yi
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial…
Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation
Xiaodong Shao, Qinglei Hu, Daochun Li +2
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters…
Identifiability Implies Robust, Globally Exponentially Convergent On-line Parameter Estimation: Application to Model Reference Adaptive Control
Lei Wang, Romeo Ortega, Alexey Bobtsov +2
In this paper we propose a new parameter estimator that ensures global exponential convergence of linear regression models requiring only the necessary assumption of identifiabilit…
An almost globally convergent observer for visual SLAM without persistent excitation
Bowen Yi, Chi Jin, Lei Wang +2
In this paper we propose a novel observer to solve the problem of visual simultaneous localization and mapping (SLAM), only using the information from a single monocular camera and…
Generation of new exciting regressors for consistent on-line estimation of unknown constant parameters
Alexey Bobtsov, Bowen Yi, Romeo Ortega +1
The problem of parameter estimation from a standard vector linear regression equation in the absence of sufficient excitation in the regressor is addressed. The first step to solve…
On the equivalence of contraction and Koopman approaches for nonlinear stability and control
Bowen Yi, Ian R. Manchester
In this paper we prove new connections between two frameworks for analysis and control of nonlinear systems: the Koopman operator framework and contraction analysis. Each method, i…
Reduced-Order Nonlinear Observers via Contraction Analysis and Convex Optimization
Bowen Yi, Ruigang Wang, Ian R. Manchester
In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despi…
On necessary conditions of tracking control for nonlinear systems via contraction analysis
Bowen Yi, Ruigang Wang, Ian R. Manchester
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptot…
Conditions for Convergence of Dynamic Regressor Extension and Mixing Parameter Estimator Using LTI Filters
Bowen Yi, Romeo Ortega
In this note we study the conditions for convergence of recently introduced dynamic regressor extension and mixing (DREM) parameter estimator when the extended regressor is generat…
Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization
Bowen Yi, Romeo Ortega, Ian R. Manchester +1
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control object…
A globally exponentially stable position observer for interior permanent magnet synchronous motors
Romeo Ortega, Bowen Yi, Slobodan Vukosavic +2
The design of a position observer for the interior permanent magnet synchronous motor is a challenging problem that, in spite of many research efforts, remained open for a long tim…
Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection
Bowen Yi, Romeo Ortega, Dongjun Wu +1
In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method---originally proposed for stabilization…
A New Signal Injection-based Method for Estimation of Position in Interior Permanent Magnet Synchronous Motors
Bowen Yi, Slobodan N. Vukosavic, Romeo Ortega +2
Several heuristic procedures to estimate the rotor position of permanent magnet synchronous motors (PMSM) via signal injection have been reported in the literature. Using averaging…
Smooth, Time-invariant Regulation of Nonholonomic Systems via Energy Pumping-and-Damping
Bowen Yi, Romeo Ortega, Weidong Zhang
In this paper we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular in…
Orbital Stabilization of Nonlinear Systems via the Immersion and Invariance Technique
Romeo Ortega, Bowen Yi, Jose Guadalupe Romero +1
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem cons…