A Taiwanese minister has made a rare visit to a Taiwan-controlled islet in the South China Sea to observe a coast guard exercise, as tensions flare in the region.

Ocean Affairs Minister Kuan Bi-ling witnessed the humanitarian rescue and medical evacuation drills on Itu Aba, which is also claimed by China, Vietnam and the Philippines.

China also claims self-ruled Taiwan as part of its territory, even though Taiwan sees itself as distinct.

Kuan's visit to Itu Aba comes as US and Filipino forces hold their largest ever military drills across the Philippines, drawing anger from China.

As the US-Philippines drills were ongoing, China dispatched a new amphibious warship to the South China Sea and sailed one of its aircraft carriers in the nearby Taiwan Strait.