近年來，四旋翼相關的研究越來越普及。有許多新穎的技術被應用到現實生活中，特別是在交通和軍事領域。如:監控，偵察，救援任務和預防環境的災害。本論文已經實現三個四旋翼控制架構，著重於設計和控制。在第一項目中，實現新的演算法模糊PID控制，從四旋翼建模到控制器設計。據調查，PID是業界最常見的控制演算法，擁有超過90%的市場佔有率;而此控制法則在參數調整上有許多不確定性，需要有經驗的工程師多番嘗試與調整，導致無法快速達到最佳化。本研究利用模糊PID控制法則改善了上述的缺點，使得四旋翼在飛行上更加穩定。在第二項目中，我們利用手掌的姿態來控制四旋翼的移動方向，取代手持遙控器。在最後的項目中，本研究使用單一的控制器來操控三台四旋翼，實現類似一對多的控制效果。
為了設計上述的控制器，我們透過Simulink來模擬四旋翼的系統，並且在控制器STM32F103C8T6上進行程式編程。最後，本研究使用互補式的濾波器來降低傳感器，儀表，加速度計以及陀螺儀的雜訊。

In recent years, the research and development of quadcopter are becoming more and more popular with many practical applications, especially in the transportation and military field. In this thesis, three projects about quadcopter are implemented to focus on the design and control. In the first project, a new Fuzzy PID control algorithm is built step by step, from modeling the control object to designing controller. According to the survey, PID is the most popular control algorithm with more than 90% of industrial controllers. To improve and develop the control quality of quadcopter, in this study, a Fuzzy PID algorithm is used and got the better control results. In the second project, Hand Gestures is also implemented to control quadcopter without Remote Control and through waves of the hand gestures, the quadcopter can follow to desired directions. The final project, three quadcopters are controlled together with using only one Remote Control.
In order to design the controllers, Simulink Tool in MATLAB software is used to simulate the dynamic quadcopter system. The Fuzzy PID controller is more complicated than PID but brought the better control results. After simulation, a software and hardware integrated system is implemented to demonstrate the effectiveness of the proposed method.

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