Dr. Iván González Hernández

 

 

Director del área de vehículos aéreos del Laboratorio Nacional en Vehículos Autónomos y Exoesqueletos

Catedrático Conacyt Comisionado en la UMI-LAFMIA del Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional

Av. Instituto Politécnico Nacional No. 2508, Col. San Pedro Zacatenco, Del. Gustavo A. Madero, Ciudad de México, México, C.P. 07360

Tel. +52 55-57473800 ext 4262

email: ivan.gonzalez @ cinvestav.mx

 

LÍNEAS DE INVESTIGACIÓN

 

  • Estabilización de VANT
  • Control lineal
  • Control robusto
  • Sistemas de control embebidos

 

 

FORMACIÓN ACADÉMICA

 

  • Doctorado, Control Automático                                                                                                            Febrero, 2013
    • Institución: Centro de Investigación y de Estudios Avanzados del

Instituto Politécnico Nacional - Departamento de Control Automático

  • Laboratorio Franco-Mexicano de Informática y automática
  • UMI CNRS-CINVESTAV, México

 

  • Maestría en Ciencias, Control Autómatico                                                                 Septiembre, 2009
    • Institución: Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional - Departamento de Control Automático

Laboratorio Franco-Mexicano de Informática y automática UMI CNRS-CINVESTAV, México Signal Processor

 

  • Ingeniería, Comunicaciones y electrónica                                                                                                   Agosto 2003
    • Institución: Escuela Superior de Ingeniería Mecánica y Eléctrica, unidad Zacatenco. Instituto Politécnico Nacional

 

 

PROYECTOS DE INVESTIGACIÓN

 

  • Laboratorio Nacional en Vehículos Autónomos y Exoesqueletos 295536                                            2018

Participación: Responsable del área de vehículos aéreos – CINVESTAV

Financiamiento CONACYT – CINVESTAV – UPP - UAEH

EXPERIENCIA ACADÉMICA

 

ESTANCIAS DE INVESTIGACIÓN

 

  • Université de Technologie de Compiègne. CNRS UMR 7253 Heudiasyc, Francia. 

PREMIOS Y DISTINCIONES

 

  • Miembro del Sistema Nacional de Investigadores SNI - Nivel 1                                2018 - 2020
  • Miembro del Registro Conacyt de Evaluadores Acreditados RCEA - Nivel 1

 

EXPERIENCIA DOCENTE

  • Maestría y Doctorado SANAS
    • Sistemas de Control Embarcados
    • Visión para el control de Robots Móviles
    • Desarrollo de aplicaciones utilizando OpenCV para Odroid-XU4 
    • Sistemas de control No-Lineales

 

PUBLICACIONES

 

Revistas Internacionales

[1]Gonzalez, I.; Salazar, S.; Torres, J.; Lozano, R.; Romero, H.; Real-Time Attitude Stabilization of a Mini-UAV Quad-rotor using Motor Speed Feedback, in Journal of Intelligent and Robotic Systems (JINT), Springer, (2012).

[2] Gonzalez, I.; Salazar, S.; Lozano, R.; Chattering-free Sliding Mode Altitude Control for a Quad-rotor aircraft: Real-Time application, in Journal of Intelligent and Robotic Systems (JINT), Springer, (2013).

[3] F. Muñoz;I. González-Hernández; S. Salazar; E.S. Espinoza; R. Lozano; Second Order Sliding Mode Controllers for Altitude Control of a Quadrotor UAS: Real-Time Implementation in Outdoor Environments, in Neurocomputing, Elsevier, (2016).

[4]Iván González-Hernández, Sergio Salazar, A. E. Rodríguez-Mata, Filiberto Muñoz-Palacios, Ricardo López, Rogelio Lozano; Enhanced Robust Altitude Controller via Integral Sliding Modes Approach for a Quad-Rotor Aircraft: Simulations and Real-Time Results, in Journal of Intelligent and Robotic Systems (JINT), Springer, (2017). 

[5]Iván González-Hernández, Filiberto Munoz Palacios, Sergio Salazar Cruz, Eduardo Steed Espinoza Quesada, Rogelio Lozano Leal; Real-time altitude control for a quadrotor helicopter using a super-twisting controller based on high-order sliding mode observer, in International Journal of Advanced Robotic Systems (IJARS), SAGE journals, (2017).

[6]Ricardo López-Gutiérrez, Abraham Efraim Rodriguez-Mata, Sergio Salazar,Iván González-Hernández, Rogelio Lozano; Robust Quadrotor Control: Attitude and Altitude Real-Time Results, in Journal of Intelligent and Robotic Systems (JINT), Springer, (2017).

[7]A.E. Rodríguez-Mata, I. González-Hernández, J.G. Rangel Peraza, S. Salazar and R. Lozano; Wind-Gust Compensation Algorithm Based on High-Gain Residual Observer to  Control a Quadrotor aircraft: Real-Time verification task at fixed point, in International Journal of Control, Automation and Systems (IJCAS), Springer, (2018). 

[8]Filiberto Muñoz Palacios, Eduardo S. Espinoza, Iván González-Hernández, Sergio Salazar, Rogelio Lozano; Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller, in Journal of Intelligent and Robotic Systems (JINT), Springer, (2018).

 

Congresos Internacionales

[1]Gonzalez, I.; Salazar, S.; Romero, H.; Lozano, R.; Torres, J.; Attitude Control of a Quad-rotor using Speed sensing in Brushless DC Motors, in 8th International Conference on Electrical Engineering Computing Science and Automatic Control (CCE), Mérida city, pp.1-6 (2011).

[2] Gonzalez, I.; Salazar, S.; Torres, J.; Lozano, R.; Romero, H.; Real-Time Attitude Stabilization of a Mini-UAV Quad-rotor using Motor Speed Feedback, in International Conference on Unmanned Aircraft Systems (ICUAS), Philadelphia, USA, pp.508-515 (2012).

[3]Gonzalez, I.; Salazar, S.; Torres, J.; Lozano, R.; Attitude control improvement of a small Quad-rotor aircraft platform based on singular perturbations approach: Real-Time application, in IEEE International Conference on Robotics and Biomimetics (ROBIO), Guangzhou, China, pp.2357-2362 (2012).

[4] Gonzalez, I.; Attitude stabilization of a Quad-rotor UAV based on rotor speed sensing with accelerometer data estimation via Kalman filtering, in 31st Chinese Control Conference (CCC), Hefei, China pp.5123-5128 (2012).

[5] Gonzalez, I.; Salazar, S.; Lozano, R.; Escareno, J.; Real-time altitude robust controller for a Quad-rotor aircraft using Sliding-mode control technique, in International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, pp.650-659 (2013).

[6]Sergio Salazar;   Iván González-Hernández;  Ricardo Lopez;   Rogelio Lozano; Simulation and robust trajectory-tracking for a Quadrotor UAV, in International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL, pp.1167-1174 (2014).

[7] R. López; S. Salazar; I. González-Hernández; R. Lozano; Real-time parameters identification for a quad-rotor mini-aircraft using adaptive control, in International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL, pp.499-505 (2014).

[8]R. Lopez; I. González-Hernández; S. Salazar; A. E. Rodriguez; J. J. Ordaz; A. Osorio; Disturbance rejection for a Quadrotor aircraft through a robust control, in International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, pp.409-415 (2015). 

[9] F. Muñoz; E. S. Espinoza; I. Gonzalez; L. R. Garcia Carrillo; S. Salazar; R. Lozano; A UAS obstacle avoidance strategy based on spiral trajectory tracking, in International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, pp.493-600 (2015).

[10] Adrián Martínez-Vásquez; A. Rodriguez-Mata; Iván González-Hernández; Sergio Salazar; Alejandro Montiel-Varela; Rogelio Lozano; Linear observer for estimating wind gust in UAV's, in 12th International Conference on Electrical Engineering Computing Science and Automatic Control (CCE), México city, pp.1-6 (2015).

[11] Filiberto Muñoz; Moisés Bonilla; Iván González-Hernández; Sergio Salazar;   Rogelio Lozano; Super Twisting vs Modified Super Twisting algorithm for altitude control of an Unmanned Aircraft System, in 12th International Conference on Electrical Engineering Computing Science and Automatic Control (CCE), México city, pp.1-6 (2015).

[12]Filiberto Muñoz; Iván González-Hernández; Eduardo S. Espinoza; Sergio Salazar; Antonio Osorio; Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer, in Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Cancún, México, pp.323-328 (2015).

[13] Iván González-Hernández; Altitude Robust Control of a Quad-rotor aircraft using Integral Sliding Mode controller, in Third International Conference on Advances in Computing, Electronics and Communication (ACEC), Zurich, Switzerland, pp.79-83 (2015).

[14]Ivan Gonzalez-Hernandez; Sergio Salazar; Ricardo Lopez; Rogelio Lozano; Altitude control improvement for a Quadrotor UAV using integral action in a sliding-mode controller in International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, pp.711-716 (2016).

[15] R. Lopez; S. Salazar; A. Martinez-Vasquez; I. Gonzalez-Hernandez; R. Lozano; Altitude control of a quad-rotor using adaptive sliding mode, in International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, pp.1111-1116 (2016).

[16]Iván González-Hernández; Sergio Salazar; Rogelio Lozano; Robust trajectory-tracking control design for a small Quad-rotor aircraft via sliding modes, in American Control Conference (ACC), Boston, MA, pp.2271-2276 (2016).

[17]Iván González-Hernández; Sergio Salazar; Filiberto Muñoz; Rogelio Lozano; Super-twisting control scheme for a miniature Quadrotor aircraft: Application to trajectory-tracking problem, in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, pp.1547-1554 (2017).

[18]Jorge Cervantes; Filiberto Muñoz; Iván González-Hernández; Sergio Salazar; Isaac Chairez; Rogelio Lozano; Neuro-fuzzy controller for attitude-tracking stabilization of a multi-rotor unmanned aerial system, in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, pp.1816-1823 (2017).

[19]Filiberto Muñoz; Moises Bonilla; Eduardo S. Espinoza; Iván González; Sergio Salazar;  Rogelio Lozano; Robust trajectory tracking for unmanned aircraft systems using high order sliding mode controllers-observers, in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, pp.346-352 (2017).

[20]J. I. Flores-Delgado; L. G. Martínez-Santos; R. Lozano; I. González-Hernández; D. A. Mercado; Embedded control using monocular vision: Face tracking, in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, pp.1285-1291 (2017).

[21]Antonio de Jesús Flores, Israel Lugo Cárdenas, Iván González-Hernández, Rogelio Lozano; Vector Field Guidance Law for Fixed Wing UAV, in 21st International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, Romania, (2017).

[22]Jesus Manuel Vazquez-Nicolas, Erik Zamora,Ivan Gonzalez-Hernandez, Rogelio Lozano, Humberto Sossa; Towards automatic inspection: crack recognition based on Quadrotor UAV-taken images, in International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX, pp.654-659 (2018).

[23]Jorge Luis Hernández, Ivan Gonzalez-Hernandez, Rogelio Lozano; Super-twisting control in a Solar Unmanned Aerial Vehicle: Application to Solar Tracking, in International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX, pp.379-384 (2018).

[24]Alejandro Morfin-Santana, Filiberto Muñoz Palacios, Iván González-Hernández, Eduardo S. Espinoza Quesada and Sergio Salazar Cruz; Robust control for octorotor Unmanned Aerial Vehicle in H-Configuration, in 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), México, D.F., (2018).

 

DIRECCIÓN DE ESTUDIANTES

  • Tesis de maestría titulada: “Vuelo en formación de múltiples UAV en modo líder-seguidor para evasión de obstáculos”del Ing. Roberto Osorio Castro. Terminada. (2017)

 

  • Tesis de maestría titulada: “Navegación de un VANT de ala fija con visión artificial”del Ing. Antonio de Jesús Flores Moreno. Terminada. (2017)

 

  • Tesis de maestría titulada: “Vehículo multi-rotor en configuración H para operaciones de búsquedas de pesonas”del Ing. Alejandro Morfin Santana. Terminada (2018)

 

  • Tesis de doctorado titulada: “Sistema de Navegación autónomo para la inspección de estructuras”del M. en C. Jesús Manuel Vázquez Nicolás. En curso, 5 cuatrimestre…

 

  • Tesis de doctorado titulada: “Diseño, construcción y navegación de un LALE UAS”del M. en C. Jorge Luis Hernández Toral. En curso, 10 cuatrimestre.