Multi-agent Control Architecture for Autonomy Optimization Applied to Hexacopter

In this paper, a hybrid control architecture based on multi-agent system is presented, with PID (Proportional Integral Derivative) guidance and control system designed for Vertical Take off and Landing Unmanned Aerial Vehicles (VTOL UAV). The issues of multi-agent system is resolved with a distributed hybrid structure, which gradually transforms abstract mission commands into real-time control signals for multiple numbers of agents. The cooperative operations of multiple agents are realized by the centralized Global Planner Agent, which interacts with other agents in the proposed architecture. This design will be implemented on autonomous hexarotor developed by the team architecture of systems, in the national engineering school of electricity and mechanic in Casablanca (ENSEM).