Bowen Yi

衣博文

Assistant Professor
Department of Electrical Engineering
Polytechnique Montréal

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Lassonde Pavillon
2700 Chemin de la Tour
Montréal, QC, H3T 1J4
Canada

Research Interests

My research interests mainly focus on the theory and algorithms for estimation, learning, and control of nonlinear dynamical systems, with a strong emphasis on robotics and autonomous systems. I aim to develop mathematically rigorous methods with provable guarantees, while ensuring their applicability to real-world robotic platforms.

Estimation and Observer Theory

This line of research studies real-time state estimation algorithms for nonlinear control systems, with particular interest in convergence guarantees and robustness. I am interested in various topics in this field, including

  • Nonlinear observers (KKL, PEBO, DREM)
  • Adaptive observers
  • Sensorless control and estimation for electric drives
Here is a tutorial on a new observer design approach, parameter estimation-based observer (PEBO).

System Identification and Learning

This theme explores data-driven modeling and learning techniques for dynamical systems, bridging system identification and modern learning theory.

  • System identification for nonlinear dynamical systems
  • Koopman operator–based learning
  • Real-time parameter estimation

Nonlinear Control

I investigate nonlinear control design methods from the following perspectives.

  • Adaptive control
  • Orbital stabilization
  • Passivity-based control (PBC)
  • Contraction analysis

Robotics and Autonomous Systems

My research applies estimation, learning, and control theories to complex robotic systems operating in uncertain environments.

  • Continuum robots: modeling and control
  • Navigation and localization