Research Interests

Automatic Control and Diagnostic for Autonomous Systems:

• Combined control systems and machine learning
• Fault-tolerant control systems (FTC)
• Estimation and filtering techniques
• System modeling
• Fault detection and isolation systems (FDI)

Applications to Aeronautic Projects:

• Flight control, reconfigurable flight control, fault-tolerant flight control
• Guidance and navigation systems
• Attitude estimation
• Control allocation

Avionics Integration, Autopilot Hardware/Software Design, Real Flight Experiments

• Fixed wing aircraft
• Multi-rotor helicopters
• Hybrid/convertible VTOL aircraft
• Airships

Multirotor Helicopters

Fixed_wing Aircraft

Hybrid or convertible VTOL Vehicles

This hybrid vehicle is capable of vertical take off and landing (VTOL), and transitions to forward flight.

Vision Motion Tracking Setup

Since 2013, the Lab is equipped with a motion capture system: 8 cameras Optitrack S250e running at a maximum frame rate of 250 FPS are mounted in the ceiling of our experiments room (see left picture). This equipment enables us to have a ground truth for our attitude estimation and position control algorithms, for example.

Past Activities

Flying Machine Arena, ETH Zurich

"Simulation, Control and Guidance of a Swarm of Quadricopters" for the Flying Machine Arena (FMA).

I contributed to the initial setup of the FMA. I designed the very first flight control and guidance systems for the quadrocopters. I also developed the first version of the simulator, which enabled the design and debug of various flight controllers, guidance algorithms, and multi-vehicle coordinated flights. Details here.

Simulation and Flight Control Design of an Airship

Should you be interested, please feel free to contact me.