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Aggressive Maneuvering
Haomiao Huang Gabriel M. Hoffmann Steven L. Waslander Claire J. Tomlin
Stanford University Stanford University University of Waterloo University of California
Stanford, California, 94305 Stanford, California, 94305 Waterloo, ON, Canada, N2L 3G1 Berkeley, California, 94720
increasing the angle of attack and increasing the lift force Commanded
generated by the wings. The aircraft pops up into a climb 15 Compensated
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(a more extreme version of the stall turn is the famous 10 High Integral Gain
hammerhead, where the nose of the aircraft is brought up
to near vertical), trading kinetic energy for height. At the 5
Angle (deg)
peak of the climb velocity is low, and a yaw moment is 0
applied to reverse direction.
The maneuver is carried out in a similar fashion with he- !5
B. Results !10