UAV Damage Control

Rockwell Collins demonstrates adaptive control system for UAVs capable of compensating automatically for battle damage.

Rockwell Collins' Automatic Supervisory Adaptive Control (ASAC) technology Press Release

This appears to be based on a conference paper titled "Application of Relay Tuning Methods to UAV Autopilots" which was presented at the 2006 AIAA Guidance, Navigation, and Control Conference and Exhibit.

It looks like that by using relay tuning methods they are able to recompute the PID controller gains for the UAV Autopilot quickly enough to maintain stable flight, this system should also work with morphing aircraft.

A similar concept might also be applicable for ground robots being damaged or traveling on varying terrain.