Papers
5
Total Citations
44
H-Index
3
About
Andrey Polyakov is a control theorist whose work centers on robust and fault-tolerant control for mobile robotic systems, with a particular emphasis on unicycle robots and multi-agent formations. His major contributions lie in the application of sliding-mode control and homogeneity-based strategies to solve trajectory tracking and consensus problems under real-world disturbances, such as slippage and actuator faults. Polyakov’s most cited paper, “Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control” (2023, 24 citations), introduces a novel controller that ensures tracking error convergence despite perturbations. He further advances this line of research with “Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots” (2023, 12 citations), which leverages canonical homogeneity for robustness. His recent work extends these ideas to multi-agent systems, including formation control and leader-following consensus using invariant ellipsoid methods (2024–2025). Polyakov’s research is notable for bridging theoretical rigor with practical applicability, offering scalable solutions for autonomous ground vehicles. His achievements demonstrate a clear trajectory from foundational theory to distributed control, making his work essential reading for students and researchers in nonlinear control and robotics.
Research Focus
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