Containment Control Based on Adaptive Sliding Mode for a MAV Swarm System under perturbation

This paper addresses an adaptive containment control for a MAV swarm system, which is subject to perturbations. The graph theory formulation is using to establish the roles of leaders and followers as well as their interaction, and then, an adaptive sliding mode controller is proposed in order to keep the containment in presence of external disturbances on their desired relative positions with respect to the leaders while tracking a time-variant trajectory. The advantage of this control method relies on its robustness while driving its adaptive gain as uncertainties/perturbations appear. Simulations results illustrate the feasibility and advantages of the proposed strategy.