Model reference adaptive control (MRAC) offers the potential to adapt in real-time changes performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily implementation and assurance long-term system stability. This paper presents flight test results for a combined model (CMRAC) law applied height loop multirotor. Key features include CMRAC basel...

As a simple and effective force tracking control method, impedance is widely used in robot contact operations. The internal parameters of traditional are constant cannot be corrected real time, which will lead to instability system or large error. Therefore, it difficult applied the occasions requiring higher accuracy, such as robotic medical surgery, space operation so on. To solve this proble...