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The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.Achieving a sustainable global food chain is becoming particularly acute as modern Western diets are adopted in a growing number of countries and cultures around the world. Understanding the consequences tha