本論文使用智慧型PID (intelligent PID, i-PID)結合改良式擴展觀察器(Extended State Observer, ESO)來控制四軸飛行器。由於i-PID控制器需要用於估計受控體中未知參數，來改善控制器對受控體進行較佳的控制效果，本論文設計一套改良式擴展觀察器來協助受控體中未知參數建立與估計。該設計的擴展觀察器是透過模糊邏輯計算出觀察器參數，接者再利用觀察器參數估計出受控體中未知參數，進而達到改善i-PID控制器效能的目標。
為了驗證本論文設計擴展觀察器的有效性與可行性，本論文針對四軸飛行器來進行模擬和實驗。模擬與實驗結果顯示，該設計的控制器具有較佳的控制效果。

This thesis utilizes an intelligent Proportional-Integral-Derivative (i-PID) controller combined with an enhanced Extended State Observer (ESO) for the control of a quadcopter. As the i-PID controller is employed to estimate unknown parameters within the controlled system, aiming to enhance the controller's effectiveness in controlling the system, this thesis proposes an enhanced ESO scheme to facilitate the establishment and estimation of these unknown parameters within the controlled system. The design of the enhanced observer involves utilizing fuzzy logic to compute observer parameters, which are subsequently employed to estimate the unknown parameters within the controlled system, thereby enhancing the performance of the i-PID controller.
To validate the effectiveness and feasibility of the proposed enhanced observer design, simulations and experiments are conducted on a quadcopter. The results from both simulation and experimentation demonstrate that the designed controller exhibits superior control performance.

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