Andrey Ivoilov

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About

Andrey Ivoilov is a robotics researcher specializing in the stabilization and control of inherently unstable systems, with a primary focus on two-wheeled balancing robots—a classic real-world application of the inverted pendulum problem. His work addresses the fundamental challenge of maintaining vertical equilibrium in electromechanical devices. In his most cited paper (2015, 12 citations), Ivoilov developed a deflection angle stabilizing system using a modal method, deriving and linearizing the robot’s mathematical model to compute stabilization algorithms. He further advanced this field by detecting unrevealed non-linearities in the balancing robot’s layout (2016, 8 citations), analyzing how real-world control properties impact system performance. His research on tilt angle estimation (2018, 8 citations) tackled the critical subtask of accurately determining the robot’s deviation from vertical—a key enabler for effective stabilization. Through these contributions, Ivoilov has systematically addressed the gap between idealized inverted pendulum models and practical implementation, providing engineers with robust methods for sensor fusion and control in self-balancing platforms.