Hermouche, BilelZennir, Youcef2026-07-232026-07-232026-03-012543-3792http://dspace.univ-skikda.dz:4000/handle/123456789/6155This paper produces a distributed control system to be used for collaborative UAV quadrotor simultaneous hovering and yawing missions in a leader-follower architecture, PID control is used in the altitude controller and the yaw controller for each single quadrotor with well-tuned parameters provided by two multi-objective optimization algorithms MOTEO and MOGOA, in the simulation and discussion section we show that due to the well system performances the produced parameters by MOTEO-PID combination are chosen to be the gains of the altitude and yaw controllers of the distributed control system for the hovering and yawing mission using a leader-follower architecture.enArticle