| Summary: | 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 <inline-formula> <math display="inline"> <semantics> <msub> <mi mathvariant="script">L</mi> <mn>1</mn> </msub> </semantics> </math> </inline-formula> adaptive controller. The Data Distribution Service middleware, <inline-formula> <math display="inline"> <semantics> <msub> <mi mathvariant="script">L</mi> <mn>1</mn> </msub> </semantics> </math> </inline-formula> adaptive controller and graph theory technique are utilized for the navigation of the UAVs. The <inline-formula> <math display="inline"> <semantics> <msub> <mi mathvariant="script">L</mi> <mn>1</mn> </msub> </semantics> </math> </inline-formula> 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 <inline-formula> <math display="inline"> <semantics> <msub> <mi mathvariant="script">L</mi> <mn>1</mn> </msub> </semantics> </math> </inline-formula> controller makes the system robust with a high level of performance. Matlab simulation verified the robustness of the <inline-formula> <math display="inline"> <semantics> <msub> <mi mathvariant="script">L</mi> <mn>1</mn> </msub> </semantics> </math> </inline-formula> controller. We provide stability proofs using Lyapunov analysis for the UAVs framework.
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