Guillaume Ducard

2 papers indexed

arxivcs.RO2026-07-17

Linear Stability Analysis of an INDI Pitch-Rate Controller under Model Mismatch for a Tilt-Rotor VTOL UAV

Lorenzo Schenk, Guillaume Ducard, Christopher Onder

Incremental Nonlinear Dynamic Inversion (INDI) is attractive for unmanned aerial vehicle (UAV) flight control because it reduces dependence on a full aerodynamic model while retaining strong disturbance-rejection capability. For a tilt-rotor vertical takeoff and landing (VTOL) ar…

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arxiveess.SY2026-07-08

Implicit Predecessor-Based Region of Attraction Estimation and Robust Invariance Analysis for a Two-Wheeled Inverted Pendulum

Lorenzo Fici, Guillaume Ducard

Estimating the region of attraction (RoA) of nonlinear systems is fundamental for assessing closed-loop stability and ensuring safe operation. While Lyapunov-based approaches provide certified stability guarantees, they often yield conservative inner approximations of the RoA. Th…

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