Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the\nsingularities that exist in a vertical looping maneuver.Modeling singularities are resolved by writing the equations-of-motion of the\nquadcopter in quaternion form. Physical singularities due to underactuation are resolved by using an energy-based control. Energy based\ncontrol is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when\ncommanding the quadcopter to gain altitude while pitched at 90âË?Ë?.Three looping strategies (circular, cloth oidal, and newly developed\nconstant thrust) are implemented on a nonlinear model of the quadcopter. The three looping strategies are discussed along with\ntheir advantages and limitations.
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