48 citations · 150 across the 27 of their papers we have counts for
8 papers · 1 filter
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…