Dr. Guillaume Ducard - Publications
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G. Ducard, H. P. Geering, "Efficient Nonlinear Actuator Fault Detection and Isolation System for Low-Cost UAVs," AIAA Journal of Guidance, Control, and Dynamics, Vol. 31, No. 1, January 2008, pp. 225-237.

In this paper, three main limitations of the classical implementation of the multiple-model adaptive-estimation method to isolate faults based on predefined fault hypotheses are highlighted. The first concerns the number of filters that must be designed to span the range of possible fault scenarios, which must be limited due to computational load. The second limitation appears when an actuator is locked at an arbitrary nonzero position that biases the residuals of the Kalman filters, leading to inaccurate fault detection and state estimation. Third, most of the implementations of a multiple-model adaptive-estimation method only work efficiently around predefined operating conditions. This paper presents a nonlinear actuator-fault detection and isolation system, which properly works over the entire operating envelope of an aircraft. Locked-in-place and floating actuator faults can be handled. The robustness of the fault detection and isolation system is enhanced by the usage of auxiliary excitation signals. The fault detection and isolation system is also capable of handling two simultaneous actuator failures with no increase of the computational load. The complete system was demonstrated in simulation with a nonlinear model of a model aircraft in moderate to severe wind conditions.

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Laboratoire d'Informatique, Signaux et Systèmes de Sophia-Antipolis - UNS - CNRS
2000, route des Lucioles - Les Algorithmes - bât. Euclide B - BP 121 - 06903 Sophia Antipolis Cedex - France
Tél. +33 4 92 94 27 01 - Fax : +33 4 92 94 28 98 - www.i3s.unice.fr

Book releases

ISBN : 978-1-84882-560-4 ISBN : 978-7-118-07723-0 ISBN : 978-90-481-9706-4

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Get your original copy of one of the most popular PhD Thesis on fault-tolerant control of drones.

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Paper Download

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September 2016: New lecture notes about Digital Control are now available.

September 2015: Check latest Conference paper:
K. Rudin, L. Mosimann, G. Ducard, R.Y. Siegwart, “Robust Actuator Fault-tolerant Control using DK-Iteration: Theory and Application to UAS,” in Proceedings of the IFAC SAFEPROCESS, pp. 392 – 397, 2 – 4 September 2015. Publications.

April 2015: Check latest journal paper:
G. Ducard, SMAC-FDI: “Single Model Active Fault Detection and Isolation System for Unmanned Aircraft,” in International Journal of Applied Mathematics and Computer Science. Publications.

October 2014: New papers presented at the IEEE Multi Systems Control Conference, Antibes, France.

September 2014: New book chapter in Handbook of UAVs, check Publications.

June 2014: New paper presented at the IEEE European Control Conference, Strasbourg, France.

November 2013: G. Ducard is teaching a new lecture at MSc level: Robotics. This class is mainly dedicated to avionic sytems used in UAV technologies. See the description of the lecture here.