Bowen Yi

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Publications

Cahiers du GERAD

Jan 2025

G-2025-08
A globally convergent observer for estimating sphere structures with inertial measurements

Jose Ángel Chacón Rivas and Bowen Yi

In this paper, we address the problem of online estimation of spherical features in the field of camera for robotics. Specifically, we consider a mobile robo...

BibTeX reference

Sep 2024

G-2024-63
Learning stable Koopman embeddings for identification and control

Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, and Ian R. Manchester

This paper introduces new model parameterizations for learning dynamical systems from data via the Koopman operator, and studies their properties. Whereas mo...

BibTeX reference

Articles

Jul 2026

Learning stable Koopman embeddings for identification and control

Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, and Ian R. Manchester

Automatica, 189, Paper no: 113003, 2026 BibTeX reference

May 2026

Modeling, Control, and Stiffness Regulation of Layer Jamming-Based Continuum Robots

Yeman Fan, Bowen Yi, and Dikai Liu

To appear in: IEEE Transactions on Control Systems Technology, 2026 BibTeX reference

Apr 2025

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

Bowen Yi, Romeo Ortega, Jongwon Choi, and Kwanghee Nam

Automatica, 174, Paper no: 112138, 2025 BibTeX reference

Mar 2025

PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees

Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, Viorela Ila, and Ian R. Manchester

IEEE Transactions on Automatic Control, 70(3), 1714–1729, 2025 BibTeX reference

Feb 2025

Adaptive state observers for a class of nonlinear systems: The non-triangular and non-state-affine case

Romeo Ortega, Bowen Yi, Alexey Bobtsov, Anton Pyrkin, and Madina Sinetova

Systems & Control Letters, 196, Paper no: 106020, 2025 BibTeX reference

Jan 2025

Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots

Bowen Yi, Yeman Fan, Dikai Liu, and Jose Guadalupe Romero

IEEE Transactions on Automation Science and Engineering, 22, 7238–7254, 2025 BibTeX reference

Dec 2024

An overview of stiffening approaches for continuum robots

Yeman Fan, Bowen Yi, and Dikai Liu

Robotics and Computer-Integrated Manufacturing, 90, Paper no: 102811, 2024 BibTeX reference

Nov 2024

On IMU preintegration: A nonlinear observer viewpoint and its applications

Bowen Yi and Ian R. Manchester

Systems & Control Letters, 193, Paper no: 105933, 2024 BibTeX reference

Oct 2024

Stability Analysis of Trajectories on Manifolds With Applications to Observer and Controller Design

Dongjun Wu, Bowen Yi, and Anders Rantzer

IEEE Transactions on Automatic Control, 69(10), 7104–7111, 2024 BibTeX reference

Sep 2024

Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback

Jose Guadalupe Romero and Bowen Yi

International Journal of Robust and Nonlinear Control, 34(14), 9421–9437, 2024 BibTeX reference

Sep 2024

Identifiability implies robust, globally exponentially convergent on-line parameter estimation

Lei Wang, Romeo Ortega, Alexey Bobtsov, Jose Guadalupe Romero, and Bowen Yi

International Journal of Control, 97(9), 1967–1983, 2024 BibTeX reference

Jul 2024

On the Equivalence of Contraction and Koopman Approaches for Nonlinear Stability and Control

Bowen Yi and Ian R. Manchester

IEEE Transactions on Automatic Control, 69(7), 4336–4351, 2024 BibTeX reference

Proceedings

Aug 2026

Data-driven adaptive output regulation of unknown linear systems

Shangkun Liu, Lei Wang, and Bowen Yi

To appear in: 23rd IFAC World Congress, IFAC-PapersOnLine, Busan, Republic of Korea, 2026 BibTeX reference

Jul 2026

Input-output data-driven stabilization of continuous-time linear MIMO systems

Haihui Gao, Alessandro Bosso, Lei Wang, David Saussié, and Bowen Yi

To appear in: European Control Conference (ECC) 2026, Reykjavik, Iceland, 2026 BibTeX reference

Jul 2026

Data-driven stabilization of continuous-time LTI systems from noisy input-output data

Alessandro Bosso, Marco Borghesi, Andrea Iannelli, Bowen Yi, and Giuseppe Notarstefano

To appear in: European Control Conference (ECC) 2026, Reykjavik, Iceland, 2026 BibTeX reference

Jul 2025

A Globally Convergent Observer for Estimating Sphere Structures with Inertial Measurements

Jose Ángel Chacón Rivas and Bowen Yi

15th IFAC Workshop on Adaptive and Learning Control Systems ALCOS 2025, IFAC-PapersOnLine, Mexico City, Mexico, 278–283, 2025 BibTeX reference

Dec 2024

Control Contraction Metrics on Submanifolds

Dongjun Wu, Bowen Yi, and Ian R. Manchester

2024 IEEE 63rd Conference on Decision and Control (CDC), Milan, Italy, 2024 BibTeX reference