The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle’s regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter.

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