说明：  四旋翼飞行器控制算法，主要通过控制四旋翼飞行器的姿态和位置，使得飞行器在飞行过程中能够稳定飞行。目前存在的PID控制算法，在鲁棒性、相应速度以及抗干扰方面的性能不是很好。本算法则是使用模糊PID的控制算法，能够满足四旋翼飞行器的需求。
(Four-rotor control algorithms, mainly by controlling the attitude and position of the four-rotor aircraft, making the aircraft during the flight to stabilize the flight. Existing PID control algorithm performance in robustness, response speed and noise interference is not very good. The algorithm is the use of fuzzy PID control algorithm, it is possible to meet the needs of four-rotor aircraft.)