222 citations · 841 across the 78 of their papers we have counts for
5 papers · 1 filter
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…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…
Danger-aware Adaptive Composition of DRL Agents for Self-navigation
Wei Zhang, Yunfeng Zhang, Ning Liu
Self-navigation, referred as the capability of automatically reaching the goal while avoiding collisions with obstacles, is a fundamental skill required for mobile robots. Recently…
On Generation of Virtual Outputs via Signal Injection: Application to Observer Design for Electromechanical Systems
Bowen Yi, Romeo Ortega, Houria Siguerdidjane +2
Probing signal injection is a well-established technique to extract additional information from a weakly (or non) observable dynamical system. Using averaging theory, a framework t…
An Adaptive Observer for Sensorless Control of the Levitated Ball Using Signal Injection
Bowen Yi, Romeo Ortega, Houria Siguerdidjane +1
In this paper we address the problem of sensorless control of the 1-DOF magnetic levitation system. Assuming that only the current and the voltage are measurable, we design an adap…