Comments on "On decentralized adaptive full-order sliding mode control of multiple UAVs".

In this note is shown that the controller proposed in the paper [ISA Trans 71 (2017) 196-205] has the conceptual flaw of not being decentralized as claimed. A corrected control law is then proposed, maintaining most of the characteristics of the original controller while using only the available information for each agent. The stability of this proposed corrected controller is shown using Lyapunov function technique.