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Limited Offer: soft-cover original PhD Thesis (Only 12 copies left)


phd_thesis PhD content

G. J. J. Ducard, Fault-tolerant Flight Control and Guidance Systems for a Small Unmanned Aerial Vehicle, ETH Zurich PhD Thesis, 245 pages, 2007.

Get an original paper-copy (soft cover) version of the PhD Thesis be sent to you, and signed by the author. Please send me an Email: ducard@i3s.unice.fr




Book

ISBN : 978-1-84882-560-4

ISBN : 978-7-118-07723-0
G. J. J. Ducard, Fault-tolerant Flight Control and Guidance Systems: Practical Methods for Small Unmanned Aerial Vehicles, Advances in Industrial Control Series, 266 pages, 151 Illustrations, Springer, June 2009. http://www.springer.com/engineering/mechanical+eng/book/978-1-84882-560-4


New: Supplementary materials to the book
Should you be interested in some software packages related to the book content, feel free to contact me.







Chinese Edition:
ISBN: 978-7-118-07723-0



Fault-tolerant Flight Control And Guidance Systems offers an overview of fault-tolerant flight control techniques, and the necessary equations for the modeling of small unmanned aerial vehicles (UAVs).

This book is suitable for academic researchers, practicing engineers, and graduate students working in the fields of fault detection techniques and the automatic control of UAVs. Unmanned aerial vehicles (UAVs) offer an incomparable means of gathering intelligence and carrying out missions without needing an onboard human pilot. The benefits are considerable in terms of cost, efficiency, and reduced pilot risk. In order to complete a mission efficiently and with a high level of safety and security, the following key design points must be met:

The text provides:

Book Chapters

  1. G. Ducard, Actuator Fault Detection in UAVs, in Handbook of Unmanned Aircraft, Editors. P. Kimon and V. Valavanis, 48 pages, pp. 1071 – 1122, Springer, September 2014. http://link.springer.com/referenceworkentry/10.1007/978-90-481-9707-1_43

  2. S. Omari, M. D. Hua, G. Ducard, T. Hamel, “Bilateral Haptic Teleoperation of an Industrial Multirotor UAV,” Springer Tracts of Advanced Robotics (STAR), 2013.

Papers in Journals

  1. G. Ducard, SMAC-FDI: “Single Model Active Fault Detection and Isolation System for Unmanned Aircraft,” in International Journal of Applied Mathematics and Computer Science, Special Issue on Safety, Fault Diagnosis and Fault tolerant Control in Aerospace Systems, Vol. 25, No. 1, ISSN 2083-8492 (online), March 2015, pp. 189 - 201.

  2. M.-D. Hua, G. Ducard, T. Hamel, R. Mahony, “Introduction to Attitude Estimation for Aerial Robotic Systems,” to appear in Journal AerospaceLab, Onera. December 2014

  3. S. Omari, M.-D. Hua, G. Ducard, T. Hamel, “Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters,” in IEEE/ASME Transactions on Mechatronics, August 2013.

  4. M.-D. Hua, G. Ducard, T. Hamel, R. Mahony, K. Rudin, “Implementation of Nonlinear Attitude Estimators for Aerial Robotic Vehicles, in IEEE Transactions on Control System Technology, May 2013, DOI:10.1109/TCST.2013.2251635.

  5. 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. Abstract

  6. G. Ducard, “Discussion on: A Fault Detection Filter Including an Adaptive Noise Cancellation Strategy,” European Journal of Control, Vol. 13, No. 6, 2007, pp. 639-640.

International Conferences

  1. 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.

  2. G. Ducard, M.-D Hua, “Modeling of an Unmanned Hybrid Aerial Vehicle,” Proceedings of the IEEE Multi-conference on Systems and Control (MSC), Invited session on UAVs, Antibes, France, 8-10 October 2014.

  3. K. Rudin, G. Ducard, R.Y. Siegwart, “Kalman Filter Based Sensor Fault Detection for Aircraft,” Proceedings of the IEEE Multi-conference on Systems and Control (MSC), Invited session on UAVs, Antibes, France, 8-10 October 2014.

  4. S. Omari, G. Ducard, R.Y. Siegwart, “Robust Metric Velocity Estimation for UAVs Using Non-overlapping Camera Systems,” Proceedings of the IEEE Multi-conference on Systems and Control (MSC), Invited session on UAVs, Antibes, France, 8-10 October 2014.

  5. G. Ducard, K. Rudin, S. Omari, R.Y. Siegwart, “Strategies for Sensor-fault Compensation on UAVs: Review, Discussions & Additions,” in Proceedings of the IEEE European Control Conference (ECC 14), Strasbourg, June 2014.

  6. S. Omari, M. D. Hua, G. Ducard, T. Hamel, “Nonlinear Control of VTOL UAVs Incorporating Flapping Dynamics,” in Proceedings of the IEEE IROS, Tokyo, Japan, , 3-7 November, 2013.

  7. G. Ducard, “The SMAC Fault Detection and Isolation Scheme: Discussions, Improvements, and Application to a UAV,” In Proceedings of the IEEE Conference on Control and Fault-Tolerant System (Systol'13), pp. 480 - 485, Nice, France, October 2013.

  8. S. Omari, G. Ducard, “Metric Visual-Inertial Ego-Motion Estimation Using Single Optical Flow Feature,” in Proceedings of the IEEE European Control Conference, Zurich, Switzerland, 17-19 July, 2013.

  9. S. Omari, M. D. Hua, G. Ducard, T. Hamel, “Bilateral Haptic Teleoperation of VTOLS UAVs, in Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 -10, 2013.

  10. T. Schneider, G. Ducard, K. Rudin, P. Strupler, “Fault-tolerant Control Allocation for Multirotor Helicopters Using Parametric Programming,” International Micro Air Vehicle Conference and Flight Competition, Braunschweig, Germany, July 2012

  11. G. Ducard, M-D Hua, “Discussion and Practical Aspects on Control Allocation for a Multi-rotor Helicopter,” in Proceedings of the 1st International Conference on UAVs in Geomatics, UAV-g 2011, Zurich, Switzerland, September 2011. Abstract

  12. M-D. Hua, K. Rudin, G. Ducard, T. Hamel, R. Mahony, “Nonlinear Attitude Estimation with Anti-windup Gyro-bias Compensation and Practical Implement for IMUs,” in Proceedings of the 18th IFAC World Congress, Italy, August 2011.

  13. K. Rudin, M-D. Hua, G. Ducard, S. Bouabdallah, “A Robust Controller and its Application to Quadrotor Helicopters,” in Proceedings of the 18th IFAC World Congress, Italy, August 2011.

  14. G. Ducard, H. P. Geering, “SMAC-FDI: New Active Fault Detection and Isolation Scheme with High Computational Efficiency," Proceedings of the 2010 Conference on Control and Fault-Tolerant Systems (SysTol'10), pp. 30-37, Nice, France, October 2010. Abstract

  15. G. Ducard, R. D’Andrea, “Autonomous Quadrotor Flight Using a Vision System And Accomodating Frames Misalignment,” Proceegings of the IEEE Symposium on Industrial Embedded Systems, SIES 2009, pp. 261-264, Lausanne, Switzerland, July 2009.

  16. G. Ducard, H. P. Geering, “Stability Analysis of a Dynamic Inversion Based Pitch Rate Controller for an Unmanned Aircraft,” Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, pp. 360-366, Nice, France, September 2008.

  17. G. Ducard, H. P. Geering, “Airspeed Control for Unmanned Aerial Vehicles: a Nonlinear Dynamic Inversion Approach,” Proceedings of the 16th IEEE Mediterranean Conference on Control and Automation, pp. 676-681, Ajaccio, Corsica, France, June 2008.

  18. G. Ducard, K. C. Kulling, H. P. Geering, "Evaluation of Reduction in the Performance of a Small UAV after an Aileron Failure for an Adaptive Guidance System," Proceedings of the IEEE 2007 American Control Conference, pp. 1793-1798, New York, NY, July 2007.

  19. G. Ducard, E. Dumitrescu, “Discrete Controller Synthesis for Dependable Trajectory Generation,” Proceedings of the Safety and Reliability Conference, Stavanger, Norway, June 2007.

  20. G. Ducard, K. C. Kulling, H. P. Geering, "A Simple and Adaptive On-Line Path Planning System for a UAV," Proceedings of the IEEE 15th Mediterranean Conference on Control and Automation,, T34-009, pp. 1-6, Athens, Greece, June 2007. (Award for the 2nd Best Student Paper)

  21. G. Ducard, H. P. Geering, "A Computationally Efficient Guidance System for a Small UAV," Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics, pp. 124-130, Angers, France, May 2007.

  22. G. Ducard, H. P. Geering, E. Dumitrescu, "Efficient Control Allocation for Fault Tolerant Embedded Systems on Small Autonomous Aircrafts," Proceedings of the 1st IEEE Symposium on Industrial Embedded Systems - IES'2006, session "Development Methods 2", pp. 1-10, Antibes Juan-Les-Pins, France, October 2006.

  23. G. Ducard, H. P. Geering, "A Reconfigurable Flight Control System based on the EMMAE Method," Proceedings of the IEEE 2006 American Control Conference, pp. 5499-5504, Minneapolis, MN, USA, June 2006. (Award for the Best Paper Presentation in the Session).

  24. D. Rupp, G. Ducard, E. Shafai, H. P. Geering, "Extended Multiple Model Adaptive Estimation for the Detection of Sensor and Actuator Faults," Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, pp. 3079-3084, Seville, Spain, December 2005.

  25. J. J. Santin, G. Ducard, G. Paganelli, "The highly efficient PAC-CAR fuel cell vehicle designed for fuel-economy challenges," Proceedings of the IEEE Conference on Vehicle Power and Propulsion, Paris, September 2004.

  26. J. J. Santin, G. Paganelli, G. Ducard, "PAC-Car, Ultra-efficient hydrogen fuel cell powered vehicle’, Poster au 2ème Congrès Européen des ‘Alternatives énergétiques dans l’automobile’ - Poitiers, 7 et 8 avril 2004.

Technical Reports

  1. G. Ducard, M. Donovan, R. D’Andrea, “Evaluation of the Vicon Positioning System,” Confidential report, January 2008.

  2. G. Ducard, H. P. Geering, "X-station, High Altitude Airship, Preliminary Control Design Report," for the industrial customer StratXX Holding, April 2007.

  3. G. Ducard, "Mini Control System for UAVs," Master of Science Thesis, ETHZ, September 2004.

  4. G. Ducard, "Hardware and Software Design for a Wireless Communication with a Twiddler," ETHZ, internal report, March 2004.

  5. G. Ducard, "Hardware and Software Development for the Control of a Fuel Cell System," Dipl. Elec. Eng. report, ETHZ, February 2003.
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


Limited Offer

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

PhD_Thesis PhD_Thesis


Paper Download

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News

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.