8 citations · 10 across the 6 of their papers we have counts for
6 papers · 1 filter
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…
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…
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…
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…
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…