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 ${\mathcal{L}}_1$ adaptive controller. The Data Distribution Service middleware, ${\mathcal{L}}_1$ adaptive controller and graph theory technique are utilized for the navigation of the UAVs. The ${\mathcal{L}}_1$ 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 ${\mathcal{L}}_1$ controller makes the system robust with a high level of performance. Matlab simulation verified the robustness of the ${\mathcal{L}}_1$ controller. We provide stability proofs using Lyapunov analysis for the UAVs framework.

中文翻译：

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基于DDS的多个无人机系统的围堵控制

在本文中，我们提出了一种基于数据分发服务（DDS）中间件和多用途无人机系统（UAV）的鲁棒遏制控制设计。 ${\mathcal{大号}}_{\mathrm{1个}}$ 自适应控制器。数据分发服务中间件， ${\mathcal{大号}}_{\mathrm{1个}}$ 自适应控制器和图论技术被用于无人机的导航。的 ${\mathcal{大号}}_{\mathrm{1个}}$ 控制器被用作每个无人机的本地控制器，图论方法被用来在其领导者内部构成跟随者。最后，DDS中间件用于在关注者及其领导者之间交换数据。适应性强 ${\mathcal{大号}}_{\mathrm{1个}}$ 控制器使系统坚固耐用，并具有较高的性能。Matlab仿真验证了该方法的鲁棒性 ${\mathcal{大号}}_{\mathrm{1个}}$ 控制器。我们使用Lyapunov分析为无人机框架提供稳定性证明。