The author makes a false equivalence between the RSA in France and the typical UBI proposal. An individual's RSA benefit decreases as their work income increases. This has the effect of making an individual weakly indifferent to working, since it will provide no marginal increase in income. Most UBI proposals involve a benefit that doesn't phase out with income (or phases out at an income level so high that it doesn't matter). The RSA, in both design and implementation, is a lot like the already-existing EITC in the US.
The whole point of guaranteeing income is to try to avoid the distortion of incentives that comes from means-testing benefits. When the author claims that a UBI (like the RSA) would create a permanent class of non-workers, he is basing his argument on an elementary misunderstanding of policies involved.