Derek Hoffman

Papers

Total Citations

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About

Derek Hoffman is a robotics and control systems researcher whose work focuses on the modeling and control of flexible and compliant robotic manipulators. His research addresses a challenging class of problems in robotics: achieving precise, high-performance motion control in systems where structural flexibility and compliance introduce complex nonlinear dynamics. Using Lagrangian formulations to derive rigorous dynamical models, Hoffman has developed innovative control strategies — including Lyapunov-based feedback laws and notch-filtered finite-time controllers — that enable fast and accurate slewing maneuvers while avoiding problematic natural frequency excitation. Among his notable contributions, Hoffman has examined two-link hybrid manipulators with flexible links, as well as robotic systems mounted on translationally compliant bases, scenarios that closely reflect real-world engineering challenges in aerospace, manufacturing, and space robotics. His 2016 and 2017 publications have collectively garnered over a dozen citations, reflecting meaningful engagement from the research community in control theory and robotics. For students and researchers working at the intersection of structural dynamics and robotic control, Hoffman's work offers both theoretically grounded models and practically motivated control solutions that advance the field's understanding of flexible robotic systems.