無人飛行載具的研究與發展在近年來已經是相關業界與學術界的熱門研究課題，主要因為其重量輕、體積小與動態靈敏性高，而在戰略價值上也扮演著相當重要的角色，尤其無須去考慮駕駛人員的負擔，更吸引研究者紛紛投入這深具潛力的領域。無人飛行載具的發展歷史上，主要分為定翼機與旋翼機這兩種類別，本研究著重在四旋翼機體動態控制，藉由控制扇葉攻角的角度來操控四旋翼系統的升力變化，進而達到在姿態行進上的位置控制，配合PID閉迴路控制器與自訂的控制策略，從起始點到目標點位置資訊產生四旋翼機身的姿態角姿態，藉由伺服機構來控制各部位扇葉攻角來完成所下達的控制命令。本文不僅建立載具的完整數學模型，更配合幾種簡易的情境模擬，來驗證控制系統的可行性。

Investigations and researches on Unmanned Aerial Vehicles (UAVs) have become the most popular topics recently, because of the advantages on small size, light structures and high maneuverability. Even in military application, the UAV has its merits to investigate. Without concerning about the safety of pilot is the key merit which attracts researchers to join this field. There were two primary categories of UAVs, fixed-wing UAVs and rotary-wing UAVs. This thesis concerns about the dynamics of quadrotor, where the lift of craft is manipulated by regulating the blade’s pitch angle. The point to point flight is achieved by a corresponding attitude and PID control loops for providing required lift. Numerical simulations demonstrate the performance of the resulting point to point flight of the quadrotor.

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