Papers
4
Total Citations
65
H-Index
3
About
G. Mamani is a control systems researcher whose work focuses on the robust control of flexible robotic manipulators, particularly under conditions of uncertainty. His primary contributions lie in the application of sliding mode control and algebraic estimation techniques to address the challenges of lightweight, single-link flexible robot arms. Mamani’s most cited paper (48 citations) introduces a sliding mode tracking controller that remains robust to payload changes and motor friction, a critical advancement for flexible robots where traditional control methods often fail. He further advanced the field by combining generalized proportional integral (GPI) control with fast on-line algebraic estimation, enabling effective output feedback control despite unknown tip masses and motor inertia. His work also explores the synergy between sliding mode control and least squares state estimators for regulator problems. Notably, Mamani has extended his expertise to visual servo control of industrial robot manipulators, demonstrating a breadth of application from flexible to rigid robotic systems. His research, spanning from 2002 to 2011, provides foundational strategies for achieving precise, robust control in uncertain robotic environments.
Research Focus
Key Achievements
Top Papers
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- 4VISUAL SERVO CONTROL OF INDUSTRIAL ROBOT MANIPULATOR3 citations · 2002