DDS-Based Containment Control of Multiple UAV Systems
Source abstract
Abstract
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 L 1 adaptive controller. The Data Distribution Service middleware, L 1 adaptive controller and graph theory technique are utilized for the navigation of the UAVs. The 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 L 1 controller makes the system robust with a high level of performance. Matlab simulation verified the robustness of the L 1 controller. We provide stability proofs using Lyapunov analysis for the UAVs framework.
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Research context
OpenAlex topics: Distributed Control Multi-Agent Systems · Opportunistic and Delay-Tolerant Networks · Distributed systems and fault tolerance
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Computer Engineering Department, KFUPM, P. O. 5067, Dhahran 31261, Saudi Arabia
Systems Engineering Department, KFUPM, P. O. 5067, Dhahran 31261, Saudi Arabia
References (35)
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