本文使用串級模糊PID控制器來進行四旋翼飛行器完成循跡控制飛行任務，分析四旋翼飛行器的運動學，包括運動模型與運動方程式，在此基礎上，利用串級PID控制針對飛行器的角度與角速度進行姿態控制，後續增加模糊控制，利用模糊理論特性修改PID參數，使四旋翼飛行器在飛行時更穩定，最後利用感測器接收的訊號來判斷四旋翼飛行器的位置，以此達成更穩定的控制與軌跡追蹤，並使其能夠更精確地達到預定目標位置。
最後進行實驗比較和分析，所提出的控制方法能有效實現對四旋翼飛行器的飛行控制與穩定性，並結合感測器使四旋翼飛行器完成循跡控制。

This thesis uses the cascade fuzzy PID controller to complete the tracking control flight mission of the quadcopter, and analyzes the kinematics of the quadcopter, including the motion models and motion equations. On this basis, the cascade PID control is used to control the angle and angle of the quadcopter. The angular velocity is used for attitude control, and fuzzy control is added later. The fuzzy theory characteristics are used to modify the PID parameters to make the quadcopter more stable during flight. Finally, the signal received by the sensor is used to determine the position of the quadcopter to achieve a more stable control and trajectory tracking, and enable it to reach the predetermined target position more accurately.
Finally, experimental comparison and analysis are conducted. The proposed control method can effectively realize the flight control and stability of the quad-rotor aircraft, and combined with the sensor, the quad-rotor aircraft can complete tracking control.Finally, experimental comparison and analysis are conducted. The proposed control method can effectively realize the flight control and stability of the quad-rotor aircraft, and combined with the sensor, the quad-rotor aircraft can complete tracking control.

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