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A nonlinear optimal control strategy, named the geometry enhanced finite time$\boldsymbol{\theta-}$D technique, is proposed to manipulate the acrobatic flipflight of variable pitch (VP) quadcopter unmanned aerial vehicles (abbreviatedas VP copter). A unique superiority of the VP copter, which can provide thethrust in both positive and negative vertical directions by varying the pitchangles of blades, facilitates the acrobatic flip motion. The finite time$\boldsymbol{\theta-}$D technique can offer a closed-form near-optimal statefeedback control law with online computational efficiency as compared with thefinite time state-dependent Riccati equation (SDRE) technique. Meanwhile, byvirtue of the geometric technique, the singularity issue of the rotation matrixin the acrobatic flip maneuver can be avoided. The simulation experimentsverify the proposed control strategy is effective and efficient.

Geometry Enhanced Optimal Control Technique for Acrobatic Flip Motion of Quadcopter