I. V. Matrosov

Papers

Total Citations

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About

I. V. Matrosov is a researcher in nonlinear control theory and robotics, with a particular focus on the dynamics and stabilization of wheeled robotic systems. His major contributions lie in the optimal control of underactuated mechanical systems, especially the robot-wheel—a mobile platform whose motion is governed by coupled differential and algebraic constraints. In his most cited work, "On Optimal Selection of Coefficients of a Controller in the Point Stabilization Problem for a Robot-Wheel" (2020, 17 citations), Matrosov developed a method for selecting controller gains to achieve precise point stabilization while respecting velocity limits. His related study, "Control of the robot-wheel with a pendulum" (2020, 5 citations), addresses the challenging problem of synthesizing a control law for a robot-wheel with an attached pendulum, bringing the system from any initial position on a straight line to a target state under bounded velocity. These works are notable for their rigorous treatment of hybrid dynamic systems and practical relevance to mobile robotics. Matrosov’s research has been cited in studies on nonlinear control, mechatronics, and autonomous vehicle design, establishing him as a specialist in constrained motion control for nonholonomic robots.