Abstract
This paper presents a novel obstacle avoidance strategy for unmanned aerial vehicles (UAVs) by integrating an Average Sub-Gradient method into an Integral Sliding Mode Control framework. The proposed approach ensures that the UAV converges to a desired sliding surface while simultaneously avoiding obstacles using a penalty function. The Average Sub-Gradient technique is employed to effectively avoid obstacles without compromising the stability guarantees of the underlying sliding-mode controller. Simulation and experimental results validate the effectiveness of the proposed method in navigating cluttered environments while ensuring convergence and robust collision avoidance.