The answer depends a lot on what you are referring to when you say "derivative", who is making said derivative, and what kind of "royalty" you'd like to force, and what you mean by "commercial". One might infer from your question as worded that you are referring to a fork of an open source project that is making money off the software somehow and you'd like to collect money for each user they have. If that's the case the answer is simply no. However there are many other possible ways you could mean derived, and other ways to collect fee's. Dual licensing, Charging for source, binaries, and other distributions, charging for plugins, or more feature rich versions, and requiring your competitor to rebrand come to mind.
For example, if you license the original work as GPLv3, as the copyright holder (presuming you're the sole or otherwise have a contributor license agreement that prevents them from being copyright holders). You can still license a derived work as proprietary under the same kind of dual licensing that Qt, and MySQL use to release proprietary plugins, and other commercial derivatives. Basically as a copyright holder, you can relicense at will.
Is the developer of a GPL-covered program bound by the GPL? Could the developer's actions ever be a violation of the GPL?
Strictly speaking, the GPL is a license from the developer for others to use, distribute and change the program. The developer itself is not bound by it, so no matter what the developer does, this is not a “violation” of the GPL.
However, if the developer does something that would violate the GPL if done by someone else, the developer will surely lose moral standing in the community.
GPL explicitly allows you to charge redistribution, built binaries, documentation, and support. However, it require that people building binaries, or that have paid for your source, not be required to charge for redistributing those. Basically once someone else has the source they can do all of those things too.
Here are some relevant sections of the GPL FAQ pertaining to my statements.
Does the GPL allow me to require that anyone who receives the software must pay me a fee and/or notify me?
No. In fact, a requirement like that would make the program non-free. If people have to pay when they get a copy of a program, or if they have to notify anyone in particular, then the program is not free. See the definition of free software.
The GPL is a free software license, and therefore it permits people to use and even redistribute the software without being required to pay anyone a fee for doing so.
You can charge people a fee to get a copy from you. You can't require people to pay you when they get a copy from someone else.
If I distribute GPL'd software for a fee, am I required to also make it available to the public without a charge?
No. However, if someone pays your fee and gets a copy, the GPL gives them the freedom to release it to the public, with or without a fee. For example, someone could pay your fee, and then put her copy on a web site for the general public.
You can also pull a Mozilla and require that your trademark, e.g FireFox, only be applied to binaries build by you, Mozilla. If someone else builds the binaries they must use a different name.
You may distribute unchanged official binaries (i.e., the installer file available for download for each platform (code + config) and not the program executable) downloaded from www.mozilla.com or www.mozilla.org to anyone in any way, subject to governing law, without receiving any further permission from Mozilla. If you want to distribute the unchanged official binaries using the Mozilla Marks, you may do so, without receiving any further permission from Mozilla, as long as you comply with this Trademark Policy and you distribute them without charge. However, you must not remove or change any part of the official binary, including the Mozilla Marks. On your website or in other materials, you may truthfully state that the software you are providing is an unmodified version of a Mozilla application, keeping in mind the overall guidelines for the use of Mozilla Marks in printed materials, detailed above. We suggest that, if you choose to provide visitors to your website the opportunity to download Mozilla product, you do so by means of a link to our site, to help ensure faster, more reliable downloads.
Mozilla Trademark Policy
One trick, that you might do is AGPLv3 the source, which means if anyone outside of the copyright holder is using it (including over the network) and modified it, they must distribute their source changes. You could then prevent, using that trademark policy the use of your trademark, and allow relicensing under less restrictive terms if they were to pay you. I am not a lawyer, I would ensure that AGPL allows the craziness of the Trademark Policy.