Abstract
The Unmanned helicopter has excellent night characteristic like the hovering flight, vertical takeoff and landing, and the level-off movement. So, the use of the helicopter to a lot of missions is expected. In this paper we propose Unmanned helicopter loaded with grasping mechanism. But we have a problem that is degradation of control performance if this robot grasp an object, its model changed by mass of object. So, we also try to deal with this problem by using model reference adaptive control.
