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This paper addresses the problem of a robust UAV tracking, surveillance and landing of a mobile ground target. The translational and angular dynamics of the vehicle are affected by bounded uncertainties; a Quasi-Integral Sliding Mode control is designed to obtain robustness from nearly the initial time. The flying mission considers three different dynamics of movement: the take-off to the desired altitude, the relative circular surveillance motion around the mobile ground target and eventually precise landing over the ground vehicle. This paper introduces a novel dynamic motion planning generator to perform such tracking maneuvers. It is based on the solution of a second order nonlinear differential equation, whose solution is force to move in a set of new parameterized 'Bifurcation Sliding Mode Surfaces' that exploit the Hopf Bifurcation properties to change the dynamic around the equilibrium point. A temporal switching technique is introduced for changing between three different bifurcation sliding surfaces at different time intervals. To illustrate that the quadcopter effectively performs the desired maneuvers, a computer animation is provided at the end of the paper. [ABSTRACT FROM AUTHOR]

The paper shows how the solution of Singular Optimal Stabilization Problem (SOSP) for nominal system can be used for the sliding manifold design for higher order sliding mode control (HOSMC) for uncertain system. This paper consists of two main parts. In the first part, the natural connection between the order of singularity of SOSP and the order of sliding mode is established, and as a conclusion it is shown that the Singular Optimal Manifold (SOM) can be considered as the sliding surface for HOSMC of the corresponding order ensuring the sliding modes for uncertain system. In the second part we have designed a feasible curve to arrive to the SOM in prescribed time taking into account actuators limitations. It is shown that integral HOSMC ensures the exact tracking to this curve starting from the initial time moment in spite of uncertainties. [ABSTRACT FROM AUTHOR]