RT Journal Article
T1 Design and stabilization of a Coandă effect-based UAV: Comparative study between fuzzy logic and PID control approaches
A1 Mateo Sanguino, Tomás Jesús
A1 Lozano Domínguez, José Manuel
AB Recent years have experienced a notable surge in unmanned aerial vehicles (UAV) research, prompting explorationinto innovative concepts. This paper introduces a compact UAV harnessing the Coand˘a effect, anunderexplored phenomenon in fluid mechanics. Featuring a single lift motor and two types of flaps, this UAVoffers exceptional maneuverability, presenting significant challenges compared to conventional multi-rotorUAVs. To address these challenges, we explore the theoretical study, mechatronic design, and manufacturingcomplexities of the Coand˘a UAV. Emphasizing the distinctiveness of our work, we assess a Fuzzy Logic Controller(FLC) for UAV stabilization, marking the first application of such techniques to a Coand˘a-effect UAV, in contrastto the Proportional-Integral-Derivative (PID) control employed by other researchers. This innovative applicationof Fuzzy logic, particularly the Sugeno model, proves advantageous, offering faster and more robust control inuncertain or noisy environments. The proposed FLC strategy is systematically compared against a classical PIDcontrol approach, formulated based on the Mamdani and Sugeno models, optimized and manually tuned using agenetic algorithm. Our results showcase a significantly improved settling time of 0.417 s with the FLC strategy,surpassing the PID control approach by 35.23%. To substantiate our findings, we present comprehensiveexperimentation conducted at both software and hardware levels using Matlab® and Simulink for amicrocontroller-based UAV. This groundbreaking fusion of novel design and advanced control techniques notonly addresses the unique challenges posed by the Coand˘a UAV’s aerodynamics but also contributes significantlyto the field of UAV research.
PB Elsevier
SN 0921-8890
YR 2024
FD 2024-02
LK https://hdl.handle.net/10272/23639
UL https://hdl.handle.net/10272/23639
LA eng
NO Mateo Sanguino, T. de J., & Lozano Domínguez, J. M. (2024). Design and stabilization of a Coandă effect-based UAV: Comparative study between fuzzy logic and PID control approaches. In Robotics and Autonomous Systems (Vol. 175, p. 104662). Elsevier BV. https://doi.org/10.1016/j.robot.2024.104662
DS Repositorio Institucional de la Universidad de Huelva
RD 31 may 2026