近年來針對四旋翼無人機應用及發展的領域廣泛，主要是因其體積小及機動性高的優勢，使無人機成為具潛力的研究領域。然而，由於四旋翼機的致動器數目少於飛行自由度的特性，造成其抗風能力的不足。本論文針對四旋翼機設計抗風擾強健控制器，使其達到姿態穩定，從而實現四旋翼無人機之姿態控制及位置控制。本論文首先對正字型結構四旋翼機建立數學模型，研究此非線性模型的配平(trim)與線性化。論文其次建立可用於無人機低空域飛行之紊流風場模型，並對此風場模型進行頻域分析。在控制器設計方面，分為兩個部分討論：一是內迴路姿態控制，採用Hinfinity控制律進行設計，用以穩定四旋翼機姿態；二是外迴路位置控制，採用線性PD控制進行路徑追蹤。最後，本研究透過Simulink整合四旋翼機模型、風場模型、內迴路Hinfinity姿態控制器及外迴路PD位置控制器，建立完整四旋翼機的控制架構，並加入風場外擾，對閉迴路系統進行模擬，驗證所提控制系統的可行性。

In recent years, the applications and developments of the quadcopter drones have been widely studied. Because of the advantages of small size and high mobility, UAV (Unmanned Aerial Vehicle) becomes a popular research field. Due to the quadcopters have less actuator numbers than the degree of freedom of fight, to maintain its balance state or the desired attitude under the effect of the wind disturbances becomes necessary. In this thesis, the main work is to design a robust controller for the quadcopter to achieve the position control and the attitude stable. Firstly, a mathematical model of a quadcopter is established, and then the trim and linearization of this nonlinear model is studied. Secondly, an available mathematical model of the turbulence wind in low altitude is set up, analyzed, and discussed. The design of the controller is divided into two parts: Hinfinity controller design for the inner- loop attitude control; while the other is the linear PD controller design for the outer- loop position control. Finally, the quadcopter model, turbulence model, Hinfinity attitude controller and PD position controller are integrated in the MATLAB Simulink platform. In this thesis, the complete flight control system of the quadcopter is established, and its feasibility under the disturbance condition in the closed loop is verified.

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