由於無人飛行載具重量輕、體積較小、動態性能高，再加上載具上並無人員，故無人飛行載具可執行的任務多樣且限制較少，近年來無人飛行載具的應用越趨廣泛，從單純軍事用途慢慢擴展到民間用途。本實驗室已有成熟的無人飛行船自動控制技術，但由於機載電腦系統是使用一般電腦，缺點是體積大、重以及耗電量大，故本研究之動機在於發展一個嵌入式電腦的機載控制系統取代原來笨重的一般電腦。
本研究利用傳統R/C遙控器配合本實驗室自行研發之嵌入式電腦系統與控制程式以提升無人飛機的操控性與穩定性，並使用地面站系統顯示無人飛機之狀態。其中建立了無人飛機之非線性與線性數學模型，做為設計控制律之用，並建立數值模擬環境，做為理論模擬與實際飛行數據比較之用。最後在無人飛機實際飛行過程中驗證整套系統並修正不足之處。

The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and better dynamic performance, and it can carry out more kinds of tasks than the manned vehicle. The application of the UAV has become more extensive, and expanded from the military to the folk in recent years. Already there has completely automatic control technology of airship in this laboratory, but because the onboard computer system are the PC-based system, the shortcomings of PC-based system are heavy, big, and high power consumption, so the motive in this research is to develop an onboard control system with embedded system.
In additional to the traditional remote control system, embedded onboard computer system and control software are developed to improve controllability and stability of the UAV ,and the ground station system shows the information of the UAV in this research.
The nonlinear and linear mathematical models were built for designing control laws, and set up numerical simulation environment for theoretical simulation and analyze flight data. Finally, the real flight tests are performed verify the whole system and correct the shortcomings.

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