近年來，四旋翼機(一種特殊的無人飛行載具(UAVs))的研究正在迅速發展。到目前為止，由於四旋翼機的具機動性高，體積小，易於控制的能力，四旋翼機已廣泛應用於災區地圖建立、送貨服務、測量及醫療等多個應用領域。四旋翼機使用相關感測器來收集自身姿態數據、導航信息並處理控制命令以穩定飛行姿態；然而，隨著應用的快速發展，單四旋翼機的控制現在擴展到多個四旋翼機的協同控制，以提高工作效率。
本文的目的是設計一種控制律來控制一組以特定編隊飛行到目的地的多個四旋翼機，同時達到應用目的。論文完成了隊形控制器的設計，並通過Matlab模擬驗證了所提出的隊形控制器的效率，最後通過硬體實現所提出的控制方法和飛行隊形。
本文將結合樹梅派(Raspberry pi)及飛行控制板(Pixhawk1)，以無線通訊的方式建立四旋翼機之間的通訊結構，遠端控制四旋翼機，並透過隊形控制器的設計，克服隊形控制存在的許多問題：如何避免四旋翼機之間的相互碰撞、如何取得領導者與跟隨者之間的距離與角度、如何確保四旋翼機能夠有效率且安全迅速的完成特定隊形等，實現隊形控制之目的。

In recent years, the studies of the quadcopter, special unmanned aerial vehicles, are growing rapidly. Up to now, due to some abilities of quadcopter such as high maneuverability, small size, and easy control, the quadcopter has been widely applied across many application domains including disaster map creation, delivery service, measurement, and medical treatment. The quadcopter uses the sensors to collect the attitude and navigation information and process the control command to stabilize the flight attitude. However, with the rapid development of the applications, the control of single quadcopter is now extended to the cooperative control of multiple quadcopters to improve work efficiency.
The purpose of this thesis is to design a control law to control a group of multiple quadcopters flying in specified formation to the target destination. The thesis completes the design of the formation controller and verifies the efficiency of the proposed formation controller by Matlab and finally implements the proposed scheme and flight scenario by hardware.
This thesis integrates the Raspberry pi and the flight control board to establish the communication structure between the multiple quadcopters by wireless communication, remotely control the quadcopters. Further, the proposed formation controller can overcome many flight problems such as how to avoid the collision between the quadcopters, how to obtain the distance and angle between the leader and the followers, how to ensure the efficiency of the quadcopters and safely and quickly complete a specific formation, etc., to achieve the purpose of formation control.

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[17] Holybro Pixhawk1飛行控制板 圖片出處：http://www.holybro.com/product/pix32pixhawk-flight-controller-with-power-module/
[18] EMAX MT1806-2280KV無刷馬達 圖片出處：
https://www.gearbest.com/rc-quadcopters-parts/pp_152979.html
[19] SoloGood BLHeli-S 20A 電子變速器 圖片出處： https://goods.ruten.com.tw/item/show?21728686910505
[20] Desire Power 3S 35C聚鋰電池 圖片出處：
http://www.megapower-rc.com/product_info.php?products_id=196
[21] ublox Neo-M8N定位模組 圖片出處：
http://www.holybro.com/product/m8n-gps/
[22] Raspberry Pi 3 Model B圖片出處：
https://www.raspberrypi.org/products/raspberry-pi-3-model-b/
[23] APM Power Module 10S電源模組 圖片出處：
https://shop.holybro.com/power-modulepm02_p1028.html
[24] MATEK PDB-XT60分電板 圖片出處：
http://www.mateksys.com/?portfolio=pdb-xt60