Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach

الملخص EN

Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem.

The aim is to tackle the singularities that exist in a vertical looping maneuver.

Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form.

Physical singularities due to underactuation are resolved by using an energy-based control.

Energy-based control is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when commanding the quadcopter to gain altitude while pitched at 90 ∘ .

Three looping strategies (circular, clothoidal, and newly developed constant thrust) are implemented on a nonlinear model of the quadcopter.

The three looping strategies are discussed along with their advantages and limitations.