Search Results for author: Bowen Yi

Found 12 papers, 1 papers with code

Control contraction metrics on Lie groups

no code implementations22 Mar 2024 Dongjun Wu, Bowen Yi, Ian R. Manchester

The results extend the applicability of the CCM approach and provide a framework for analyzing the behavior of control systems with Lie group structures.

Learning Stable Koopman Embeddings for Identification and Control

no code implementations16 Jan 2024 Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, Ian R. Manchester

Whereas most existing works on Koopman learning do not take into account the stability or stabilizability of the model -- two fundamental pieces of prior knowledge about a given system to be identified -- in this paper, we propose new classes of Koopman models that have built-in guarantees of these properties.

Imitation Learning

On IMU preintegration: A nonlinear observer viewpoint and its application

no code implementations9 Jul 2023 Bowen Yi, Ian R. Manchester

The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications.

PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees

no code implementations22 Jun 2023 Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, Viorela Ila, Ian R. Manchester

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 only using information from a single monocular camera and an inertial measurement unit.

Simultaneous Localization and Mapping

A high performance globally exponentially stable sensorless observer for the IPMSM: Theoretical and experimental results

no code implementations1 Oct 2022 Bowen Yi, Romeo Ortega, Jongwon Choi, Kwanghee Nam

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 magnet synchronous motor.

regression

Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design

no code implementations27 Jun 2022 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 of distinguishability.

Globally convergent visual-feature range estimation with biased inertial measurements

no code implementations23 Dec 2021 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 and without assumptions of uniform observability, which remained open for a long time.

Learning Stable Koopman Embeddings

1 code implementation13 Oct 2021 Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, Ian R. Manchester

In this paper, we present a new data-driven method for learning stable models of nonlinear systems.

Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation

no code implementations23 Aug 2021 Xiaodong Shao, Qinglei Hu, Daochun Li, Yang Shi, Bowen Yi

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, without requiring the satisfaction of persistent excitation (PE) condition.

Conditions for Convergence of Dynamic Regressor Extension and Mixing Parameter Estimator Using LTI Filters

no code implementations30 Jul 2020 Bowen Yi, Romeo Ortega

Regarding PE we prove that, under some mild technical assumptions, if $\phi(t)$ is PE then the scalar regressor of DREM, $\Delta(t) \in \mathbb{R}$, is also PE, ensuring exponential convergence.

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