Manuel A. Duarte‐Mermoud

Universidad de Santiago de Chile, University of Chile

Papers

Total Citations

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About

Manuel A. Duarte‑Mermoud is a leading figure in the application of fractional‑order calculus to control theory, with a particular focus on robotics and multi‑agent systems. His research centers on developing robust, high‑precision control strategies for mobile robots operating under challenging conditions, such as skidding, slipping, and model uncertainties. A key contribution is his pioneering work on fractional‑order sliding mode controllers, which he has applied to trajectory tracking for single differential‑drive robots and to synchronized formation control for groups of mobile robots. These schemes, grounded in backstepping and passivity feedback equivalence, offer superior robustness and convergence compared to traditional integer‑order methods. His most cited papers, each garnering 2 citations, demonstrate the foundational nature of his work in this niche. Beyond robotics, Duarte‑Mermoud has also advanced fractional‑order state observers for integer‑order linear systems, with applications in medical image processing—specifically, extracting femoral head‑neck orientation from CT scans for robot‑assisted prosthesis implantation. This blend of theoretical depth and practical, cross‑disciplinary impact makes his research essential reading for students and engineers working at the intersection of fractional calculus, nonlinear control, and autonomous systems.