Papers
11
Total Citations
116
H-Index
6
About
F. Hamerlain is a robotics and control systems researcher whose work has made significant contributions to the field of sliding mode control (SMC) applied to mobile robots and robotic manipulators. With a research focus spanning nonholonomic wheeled mobile robots, car-like systems, and pneumatic artificial muscle actuators, Hamerlain has consistently tackled the critical challenges of robust trajectory tracking under real-world disturbances such as sliding and slipping effects. Hamerlain's most impactful contribution, "Higher Order Sliding Mode Control of Wheeled Mobile Robots in the Presence of Sliding Effects" (2006, 36 citations), introduced a sophisticated singular perturbation-based framework that accounts for nonholonomic constraint violations — a problem often overlooked in theoretical models. This foundational work was extended through experimental validation on real car-like platforms such as the Robucar, bridging the gap between theory and practical deployment. Beyond mobile robotics, Hamerlain has explored intelligent and adaptive control strategies, integrating neural networks and fuzzy logic with SMC to reduce the notorious chattering problem, particularly in pneumatic muscle-driven robotic arms. With over 110 cumulative citations across diverse robotic platforms and control methodologies, Hamerlain's body of work represents a sustained and practically grounded contribution to robust autonomous robot control.
Research Focus
Key Achievements
Top Papers
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- 8Adaptive sliding mode for the control of a wheeled mobile robot5 citations · 2015
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- 10Trajectory tracking with a hybrid control applied to a bi-steerable car4 citations · 2013