Bowen Yi

衣博文

Assistant Professor
Dept. Electrical Engineering
Polytechnique Montreal

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Contact:
Lassonde Pavillon
2700 Chemin de la Tour
Montreal, QC, H3T 1J4
Canada

Tel: +61 04 6761 1727

 

 

Selected Publications

Preprints and submissions

  1. Dongjun Wu, Bowen Yi, and Ian R. Manchester, Control contraction metrics on Lie groups, submitted to IEEE Conference on Decision and Control, March 2024.
  2. Bowen Yi, Yeman Fan, Dikai Liu, and Jose G. Romero, Simultaneous position-and-stiffness control of underactuated antagonistic tendon-driven continuum robots, submitted.
  3. Bowen Yi, Romeo Ortega, Jongwon Choi, and Kwanghee Nam, A high performance globally exponentially stable sensorless observer for the IPMSM: Theoretical and experimental results, submitted to Automatica, 2022. (under review)
  4. Jose G. Romero and Bowen Yi*, Orbital stabilization of underactuated mechanical systems without Euler-Lagrange structure after of a collocated pre-feedback, submitted to Int. J. Robust Nonlinear Control, 2023. (under review, arXiv: 2109.06724)
  5. Bowen Yi and Ian R. Manchester, On IMU preintegration: A nonlinear observer viewpoint and its application, submitted to Systems & Control Letters, 2023. (under review)
  6. Romeo Ortega, Bowen Yi, Alexey Bobtsov, Anton Pyrkin and Marina Korotina, Adaptive state observers for a class of nonlinear systems: The non-triangular and non-state-affine case, submitted to Systems & Control Letters, September 2023. (under review)
  7. Fletcher Fan, Bowen Yi*, David Rye, Guodong Shi and Ian R. Manchester, Learning stable Koopman embeddings for identification and control, submitted to Automatica, January 2024. (under review)
  8. Bowen Yi, Yeman Fan and Dikai Liu, A novel model for layer jamming-based continuum robots, submitted to IEEE Conf. Robot. Autom. (ICRA), September 2023. (under review)
  9. Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, Viorela Ila and Ian R. Manchester, PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees, submitted to IEEE Trans. on Automatic Control, June 2023.

Journal Papers

  1. Bowen Yi, and Ian R. Manchester, On the equivalence of contraction and Koopman approaches for nonlinear stability and control, IEEE Trans. Autom. Control, pp. 1-16, 2023.
  2. Bowen Yi, Lei Wang and Ian R. Manchester, Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design, IEEE Trans. Autom. Control, 2023. (accepted)
  3. Romeo Ortega, Laurent Praly, Stanislav Aranovskiy, Bowen Yi and Weidong Zhang, On dynamic regressor extension and mixing parameter estimators: Two Luenberger observers interpretations, Automatica, vol. 95, pp. 348–351, 2018.
  4. Bowen Yi, Ruigang Wang and Ian R. Manchester, Reduced-order nonlinear observers via contraction analysis and convex optimization, IEEE Trans. Autom. Control, pp. 4045-4060, vol. 67, issue 8, August 2022.
  5. Romeo Ortega, Bowen Yi*, Slobodan N. Vukosavic, Kwanghee Nam and Jongwon Choi, A globally exponentially stable position observer for interior permanent magnet synchronous motors, Automatica, vol. 125, 109424, pp. 1-10, 2021.
  6. Bowen Yi, Romeo Ortega and Weidong Zhang, On state observers for nonlinear systems: A new design and a unifying framework, IEEE Trans. Autom. Control, vol. 64, pp. 1193-1120, 2019.
  7. Bowen Yi, and Romeo Ortega, Conditions for convergence of dynamics extension and mixing parameter estimator using LTI filters, IEEE Trans. Autom. Control, vol. 68, no. 2, pp. 1-6, Feb. 2023.
  8. Bowen Yi, Chi Jin, and Ian R. Manchester, Globally convergent visual-feature range estimation with biased inertial measurements, Automatica, 2022. (accepted)
  9. Alexey Bobtsov, Bowen Yi* , Romeo Ortega and Alessandro Astolfi, Generation of new exciting regressors for consistent on-line estimation of a scalar parameter, IEEE Trans. Autom. Control, vol. 67, pp. 4746-4753, Sept. 2022.
  10. Bowen Yi, Romeo Ortega, Dongjun Wu, and Weidong Zhang, Orbital stablization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection, Automatica, vol. 112, 108661, pp. 1-9, 2020.
  11. Yi Shi, Bowen Yi, Wei Xie, and Weidong Zhang, Enhancing prescribed performance of tracking control using monotone tube boundaries, Automatica, accepted, 2023.
  12. Dongjun Wu, Bowen Yi and Anders Rantzer, Stability analysis of trajectories on manifolds with applications to observer and controller design, IEEE Trans. Autom. Control, pp. 1-8, 2024. (to appear)
  13. Bowen Yi, Romeo Ortega and Weidong Zhang, Relaxing the conditions for parameter estimationbased observers of nonlinear systems via signal injection, Syst. Control Lett., vol. 111, pp. 18–26, 2018.
  14. Romeo Ortega, Bowen Yi and Jose Guadalupe Romero, Robustification of nonlinear control systems vis-à-vis actuator dynamics: An immersion and invariance approach, Syst. Control Lett., vol. 146, 104811, pp. 1{9, 2020.
  15. Jose G. Romero, Isaac Gandarilla, Victor Santibanez and Bowen Yi, A constructive procedure for orbital stabilization of a class of underactuated mechanical systems, IEEE Trans. Control Syst. Techn., 2022.
  16. Xiaodong Shao, Qinglei Hu, Yang Shi and Bowen Yi, Data-driven immersion and invariance adaptive attitude control for rigid bodies with double-level state constraints, IEEE Trans. Control Syst. Techn., 2021.
  17. Romeo Ortega, Bowen Yi*, Jose Guadalupe Romero and Alessandro Astolfi, Orbital stabilization of nonlinear systems via the immersion and invariance technique, Int. J. Robust Nonlinear Control, vol. 30, issue 5, pp. 1850–1871, 2020.
  18. Xiaodong Shao, Qinglei Hu, Daochun Li, Yang Shi and Bowen Yi, Composite adaptive control for anti-unwindng attitude maneuvers: An exponential stability result without persistent excitation, IEEE Trans. Aerosp. Electron. Syst., vol. 59, no. 2, pp. 1051-1066, 2023.
  19. Bowen Yi, Romeo Ortega, and Weidong Zhang, Smooth, time-variant regulation of nonholonomic systems via energy pumping-and-damping, International Journal of Robust and Nonlinear Control, vol. 30, issue 16, pp. 6399–6413, 2020.
  20. Bowen Yi, Romeo Ortega, Ian R. Manchester and Houria Siguerdidjane, Path following of a class of underactated mechanical systems via immersion and invariance-based orbital stabilization, Int. J. Robust Nonlinear Control, vol. 30, no. 18, pp. 8521-8544, 2020.
  21. Bowen Yi, Romeo Ortega, Houria Siguerdidjane, Juan E. Machado and Weidong Zhang, On generation of virtual outputs via signal injection: Application to observer design for electromechanical systems, Eur. J. Control, vol. 54, pp. 129–139, 2020.
  22. Bowen Yi, Slobodan N. Vukosavic, Romeo Ortega, Aleksandar M. Stankovic and Weidong Zhang, A new signal injection-based method for estimation of position in salient permanent magnet synchronous motors, IET Power Electron., vol. 13(9), pp. 1865–1874, 2020.
  23. Lei Wang, Romeo Ortega, Alexey Bobtsov, Jose G. Romero and Bowen Yi, Identiability implies robust, globally exponentially convergent on-line parameter estimation, Int J. Control, accepted, 2023.
  24. Jin Wu, Miaomiao Wang, Yi Jiang, Bowen Yi, Rui Fan and Ming Liu, Simultaneous Hand-Eye/Robot-World/Camera-IMU Calibration, IEEE/AMSE Trans. Mechatron., 2021. (online)
  25. Alexey Bobtsov, Romeo Ortega, Bowen Yi, and Nicolay Nicolaev, Adaptive state estimation of stateaffine systems with unknown time-varying parameters, Int. J. Control, 2021. (online)
  26. Lei Qiao, Bowen Yi, Defeng Wu and Weidong Zhang, Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles, Ocean Eng., vol. 134, pp. 157–172, 2017.
  27. Bowen Yi, Lei Qiao and Weidong Zhang, Two-time scale path following of underactuated marine surface vessels: design and stability analysis using singular perturbation methods, Ocean Eng., vol.124, pp.287–297, 2016.

Conference Papers

  1. Bowen Yi, Romeo Ortega, Jongwon Choi and Kwanghee Nam, A novel globally expoentially stable observer for sensorless control of IPMSM via Kreisselmeier's extension, the 22nd IFAC World Congress, Yokohama, Japan, 2023.
  2. Bowen Yi, Lei Wang and Ian R. Manchester, Attitude estimation from vector measurements: Neces- sary and sufficient conditions and convergent observer design, the 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Canberra, Australia, pp. 343–348, January 4-6, 2023.
  3. Bowen Yi, Lei Wang and Weidong Zhang, Online gyro bias estimation from single vector measure- ments using regression models, the 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Canberra, Australia, pp. 352–357, January 4-6, 2023.
  4. Lei Wang, Bowen Yi and Hongye Su, An I&I adaptive redesign approach for asymptotic stability without PE, the 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Canberra, Australia, pp. 264-269, January 4-6, 2023.
  5. Fletcher Fan, Bowen Yi, David Rye, Guodong Shi and Ian R. Manchester, Learning stable Koopman embeddings, American Control Conference, Atlanta, GA, USA, 2022.
  6. Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, and Ian R. Manchester, A globally convergent observer for visual localization without persisent excitation, Austin, Texas, USA, IEEE Conference on Decision and Control, 2021.
  7. Bowen Yi, and Ian R. Manchester, On the equivalence of contraction and Koopman approaches for nonlinear stability and control, Austin, Texas, USA, IEEE Conference on Decision and Control, 2021.
  8. Bowen Yi, Ruigang Wang, and Ian R. Manchester, Reduced-order observers for nonlinear systems via contraction analysis and convex optimisation, American Control Conference, New Orleans, US, May 25-28, 2021. (to appear)
  9. Bowen Yi, Ruigang Wang and Ian R. Manchester, On necessary conditions of tracking control for nonlinear systems via contraction analysis, the 59th IEEE Conference on Decision and Control, (IEEE CDC), Jeju Island, Republic of Korea, (virtual conference), Jeju Island, Republic of Korea, December 8-11, 2020. arXiv:2009.08662
  10. Bowen Yi, Romeo Ortega, Dongjun Wu and Weidong Zhang, Two constructive solutions to orbital stabilization of nonlinear systems via passivity-based control, IEEE Conference on Decision and Con trol, (IEEE CDC), Nice, France, pp. 2027--2032, December 11-13, 2019.
  11. Bowen Yi, Romeo Ortega, andWeidong Zhang, Regulation of nonholonomic systems: A smooth, time- invariant approach, vol 52, issue 16, pp. 150-155, 2019. (presented at the Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, (Joint Mechatronics 2019 & NolCoS 2019), Vienna, Austria, pp. 212--217, September 4-6, 2019.)
  12. Bowen Yi, Slobodan N. Vukosavic, Romeo Ortega, Aleksandar M. Stankovic and Weidong Zhang, A frequency domain interpretation of signal injection methods for salient PMSMs, IEEE Conference on Control Technology and Applications, (IEEE CCTA), Hong Kong, China, pp. 517--522, August 19-21, 2019.  (Student Best Paper Award from IEEE Control Systems Society)
  13.  Bowen Yi, Romeo Ortega, Houria Siguerdidjane and Weidong Zhang, An adaptive observer for sen- sorless control of the levitated ball using signal injection, IEEE Conference on Decision and Control, (IEEE CDC), Miami Beach, FL, USA, pp. 6882-6887, December 17-19, 2018. (See also arXiv:1804.02697 for an extended version.)
  14.  Daniele Zonetti, Bowen Yi, Stanislav Aranovskiy, Denis Efimov, Romeo Ortega and Enrique Garcia- Quismondo, On physical modeling of Lithium-Ion cells and adaptive estimation of their state-of-charge, IEEE Conference on Decision and Control, (IEEE CDC), Miami Beach, FL, USA, pp. 2176--2181, December 17-19, 2018.

Talks and Presentations

  1. Learning to see hidden variables for robotics
    • École polytechnique de Montreal, Canada, March 2023
    • Trinity College Dublin, The University of Dublin, Ireland, March 2023
    • The University of Sheffield, UK, April 2023
  2. Parameter estimation-based observer on Lie groups: Application to robotic systems
    • The Hong Kong Polytechnic University, Hong Kong SAR, Feb 2023
  3. Equivalence between Koopman and contraction with application to nonlinear systems identificationoptimization
    • École polytechnique fédérale de Lausanne (EPFL), July 2022
    • Zhejiang University, Hangzhou, China, June 2022
  4. State estimation of nonlinear systems: Contraction analysis and convex optimization
    • ACC (observer session), New Orleans, LA, US, May 2021
    • Huzhou Institute, Zhejiang University, Huzhou, China, May 2021
  5. An almost globally convergent observer for visual SLAM without persistent excitation
    • ACFR, the University of Sydney, NSW, Australia, Apri 2021
    • IEEE CDC (observer session III), Austin, TX, US, Dec 2021
  6. On necessary conditions of tracking control for nonlinear systems via contraction analysis
    • IEEE CDC (nonlinear contraction session), Jeju, Rep. of Korea, Dec 2020
  7. System identification and state estimation of nonlinear control systems
    • Beijing ZHZ Co., Ltd, Sept 2020
  8. Path following of underactuated mechanical systems: An energy perspective,
    • ACFR, The University of Sydney, NSW, Australia, July 2020.
  9. Generation of oscillations in nonlinear systems: Applications to nonholonomic and underactuated mechanical systems
    • Northeastern University, Shenyang, China, Dec 2019
    • IFAC NOLCOS (nonholonomic systems session), Vienna, Austria, Sept 2019
  10.  A frequency domain interpretation of signal injection methods for salient PMSMs
    • IEEE CCTA, Hong Kong, China, Aug 2019
  11.  Signal injections and observers for electromechanical systems
    • JAMACS 2018 - Journées de l'Automatique du GdR MACS (Commandes des Systèmes Électroniques), Nantes, France, Nov 2018
    • IEEE CDC (mechatronics session), Miami Beach, FL, US, Dec 2018
    • Chongqing University, Chongqing, China, June 2019