DDS-based containment control of multiple UAV systems

In this paper, we present a robust containment control design for multi Unmanned Aerial Vehicle Systems (UAVs) based on the Data Distribution Service (DDS) middleware and L1 adaptive controller. The Data Distribution Service middleware, L₁ adaptive controller and graph theory technique are utilized for the navigation of the UAVs. The L₁ controller is utilized as a local controller for each UAVs and the graph theory approach is utilized to constitute the followers inside their leaders. Finally, the DDS Middleware is used to exchange data between the followers and their leaders. Robust adaptation of the L₁ controller makes the system robust with a high level of performance. Matlab simulation verified the robustness of the L1 controller. We provide stability proofs using Lyapunov analysis for the UAVs framework.