Dr. Guillaume Ducard - UAV Projects and Videos
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Bilateral Haptic Teleoperation of VTOL UAVs:

This video shows the experimental results recorded in September 2012 and reported in the paper: "Bilateral Haptic Teleoperation of VTOL UAVs," S. Omari, M.-D. Hua, G. Ducard, T. Hamel, presented at the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 -10, 2013.

Hardware and Software Architecture for Nonlinear Control of Multi-rotor Helicopters:

This video shows the experimental results recorded in September 2012 and reported in the paper: "Hardware and Software Architecture for Nonlinear Control of Multi-rotor Helicopters", S. Omari, M.-D. Hua, G. Ducard, T. Hamel, IEEE Transactions on Mechatronics, 2013. (see the Publications section)

Nonlinear Attitude Estimation for Multi-rotor Helicopters:

The explicit complementary filter is a non-linear observer posed on the group of rotations that exploits vector direction measurements [1].
The code uses the quaternion representation for the special orthogonal group and deals with two vector measurements, an estimate of gravitational direction given by the accelerometers and an estimate of the magnetic field given by magnetometers. The code is implemented in fixed-point arithmetic for a 8-bit microcontroller (Atmel ATMEGA). The code presented includes anti-windup on the gyro-bias [2], [3].

See the corresponding video below

[1] Mahony, R.; Hamel, T.; Pflimlin, J.-M.; , "Nonlinear Complementary Filters on the Special Orthogonal Group," IEEE Transactions on Automatic Control , vol.53, no.5, pp.1203-1218, June 2008
doi: 10.1109/TAC.2008.923738
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4608934&isnumber=4608920

[2] 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.

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

Nonlinear Attitude Control for Multi-rotor Helicopters:

The video below shows the I3S hexacopter flown manually in an angle controlled mode, using the nonlinear attitude estimator shown in the video above and the flight controller described in the following paper:

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.

Advanced Control Allocation for Multi-rotor Helicopters

The video shown below shows the effectiveness of a new control allocator (see paper [1] below) to cope with up to two motor failures on an hexacopter.

[1] 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

[2] 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.

Actuator and Sensor Fault Detection and Isolation for UAVs

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

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.

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.

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.

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).

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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September 2018: 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.