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This paper aims to tackle the problem for a fully actuated unmanned aerial vehicle (FUAV) to perform physical interaction tasks in the Global Positioning System-denied environments without expensive motion capture system (like VICON) under disturbances.

A tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder and an attitude sensor is designed to provide reliable position feedback for the FUAV. To handle the disturbances, including the tension force caused by the taut tether, model uncertainties and other external disturbances such as aerodynamic disturbance, a hybrid disturbance observer (HDO) combining the position-based method and momentum-based technology with force sensor feedback is designed for the system. In addition, an HDO-based impedance controller is built to allow the FUAV interacting with the environment and meanwhile rejecting the disturbances.

Experimental validations of the proposed control algorithm are implemented on a real FUAV with the result of nice disturbance rejection capability and physical interaction performance.

A cheap alternative to indoor positioning system is proposed, with which the FUAV is able to interact with external environment and meanwhile reject the disturbances under the help of proposed hybrid disturbance observer and the impedance controller.

The stability maintenance system has played an essential role in maintaining social stability although it also has brought about social problems worthy of attention. Admittedly compensation-based stability maintenance policy can address the appeals of citizens whose rights are infringed and the dissolving effect in the provision of compensation can save the cost of stability maintenance but such stability maintenance system lacks equilibrium.

The establishment of a strict assessment system for stability maintenance performance can encourage the stability maintenance authorities to eliminate the “fuse effect” as much as possible and ensure the effective implementation of the stability maintenance system. However, the rigorous stability maintenance performance assessment also provides the possibility for profit-driven petitions.

Due to the continuous accumulation of social dissatisfaction and the lack of stability maintenance equilibrium in the implementation of the compensation-based stability maintenance policy, public governance will fall into a stability maintenance paradox of “greater instability resulting from stability maintenance”.

The provision of sufficient means for the people to protect their interest by implementing measures such as strengthening the rule of law mechanisms is the key to achieve long-term social stability.