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Variable structure control (VSC) is a popular robust control method widely used to cope with uncertain system dynamics. Unfortunately, current VSC always comes with "chattering". Eliminating or alleviating such chattering has motivates numerous research efforts, but most proposed methods for chattering elimination are achieved at the price of control precision and additional heavy computations...
This paper addresses the problem of how to make a UAV track a given flight trajectory while at the same time avoid unexpected obstacle(s). If the information about the existence of the obstacle is known in advance, the problem can be readily solved by carefully pre-planning the desired flight path for the vehicle. However, obstacle(s) might appear unexpectedly in practical applications, as such the...
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