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 et 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...

référence BibTeX

sept. 2024

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

Fletcher Fan, Bowen Yi, David Rye, Guodong Shi et 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...

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Articles

juil. 2026

Learning stable Koopman embeddings for identification and control

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

Automatica, 189, No article: 113003, 2026 référence BibTeX

mai 2026

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

Yeman Fan, Bowen Yi et Dikai Liu

À paraître dans : IEEE Transactions on Control Systems Technology, 2026 référence BibTeX

avr. 2025

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

Bowen Yi, Romeo Ortega, Jongwon Choi et Kwanghee Nam

Automatica, 174, No article: 112138, 2025 référence BibTeX

mars 2025

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

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

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

fév. 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 et Madina Sinetova

Systems & Control Letters, 196, No article: 106020, 2025 référence BibTeX

jan. 2025

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

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

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

déc. 2024

An overview of stiffening approaches for continuum robots

Yeman Fan, Bowen Yi et Dikai Liu

Robotics and Computer-Integrated Manufacturing, 90, No article: 102811, 2024 référence BibTeX

nov. 2024

On IMU preintegration: A nonlinear observer viewpoint and its applications

Bowen Yi et Ian R. Manchester

Systems & Control Letters, 193, No article: 105933, 2024 référence BibTeX

oct. 2024

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

Dongjun Wu, Bowen Yi et Anders Rantzer

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

sept. 2024

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

Jose Guadalupe Romero et Bowen Yi

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

sept. 2024

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

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

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

juil. 2024

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

Bowen Yi et Ian R. Manchester

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

Actes de conférence

août 2026

Data-driven adaptive output regulation of unknown linear systems

Shangkun Liu, Lei Wang et Bowen Yi

À paraître dans : 23rd IFAC World Congress, IFAC-PapersOnLine, Busan, Republic of Korea, 2026 référence BibTeX

juil. 2026

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

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

À paraître dans : European Control Conference (ECC) 2026, Reykjavik, Iceland, 2026 référence BibTeX

juil. 2026

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

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

À paraître dans : European Control Conference (ECC) 2026, Reykjavik, Iceland, 2026 référence BibTeX

juil. 2025

A Globally Convergent Observer for Estimating Sphere Structures with Inertial Measurements

Jose Ángel Chacón Rivas et Bowen Yi

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

déc. 2024

Control Contraction Metrics on Submanifolds

Dongjun Wu, Bowen Yi et Ian R. Manchester

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