no code implementations • 22 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.
no code implementations • 16 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.
no code implementations • 9 Jul 2023 • Bowen Yi, Ian R. Manchester
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications.
no code implementations • 22 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.
no code implementations • 1 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.
no code implementations • 27 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.
no code implementations • 23 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.
1 code implementation • 13 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.
no code implementations • 23 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.
no code implementations • 19 Aug 2021 • Lei Wang, Romeo Ortega, Alexey Bobtsov, Jose Guadalupe Romero, Bowen Yi
The estimators are shown to be robust to additive measurement noise and--not necessarily slow--parameter variations.
no code implementations • 28 Mar 2021 • Bowen Yi, Ian R. Manchester
control contraction metric) for the nonlinear system.
no code implementations • 30 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.