Hi, I am trying to create a multi-agent control system in Simulink with SSPPM. I already have a working single quadcopter system and now my approach is to duplicate the flightControlSystem block, quadcopter, environment and sensor model to get 2 quadcopter systems and connect them to a master controller for cooperative control. However, I am unable to rename the signals of the 2 flightControlSystem blocks as 2 different names because the variables of the original block would follow the name of the renamed block.

What I want:

• FCS 1's Actuator signal = Actuator 1
• FCS 2's Actuator signal = Actuator 2

What happens instead when I rename FCS 2's Actuator signal:

• FCS 1's Actuator signal = Actuator 2
• FCS 2's Actuator signal = Actuator 2

Is it because the duplicated flightControlSystem takes the original block as a reference so it can't be renamed? Or is there a better approach to creating a multi-agent control system?

Please let me know if more details are required. Thank you in advance.