PhD Student

PhD Thesis: "Design, construction and control of a helicopter with four rotors"

Advisors: J. Torres & S. Salazar



Currently, Unmanned Aerial Vehicle (UAV) technology isused in many areas such as military applications, aerial inspection, constrained locations and so on. Piloted aircraft in the same scenario has a human on board that is able to engage in the complex decision making process involved in the choice of a suitable landing location, but sometimes it is necessary that an UAV lands in poorly accessible places and dangerous to humans.

This Ph.D. thesis focusses on the autonomous take off and landing of a mini-UAV in indoor and oudoor scenarios. Non-linears and linear controllers are implemented in order to stablize the mini-UAV, and instrumentation, including  IMU, RPM sensor, GPS, pressure sensor, are used to reach the autonomous flight.


As a result, it is necessary that the miniature aerial vehicle has a very good stability on the horizontal plane and a good control altitude to increase the versatility and overall performance. The small size of this vehicles (mini-UAV) is a great advantage in small locations where you want to arrive. However, these characteristics limit the load that can carry these vehicles due to the small size that characterizes them. It meanwhile, the aerial vehicle considered in developing this work is classified as a mini-flying robot which payload is limited to less than 1 kg.


Iván González was born in México City, on March 18, 1981. He received the Bachelor´s degree in Communications and Electronics Engineering from the Instituto Politécnico Nacional, México City, México, in 2003, and the M.S. degree in automatic control from the Centro de Investigación y de Estudios Avanzados del I.P.N. (CINVESTAV), Mexico City, in 2009. At present, he studies the Ph.D. degree in automatic control in CINVESTAV, where his current research interests include real-time control applications, embedded systems and unmanned aerial vehicles.

Aerospace vehicles

Create by C. Castillo