四旋翼飞行器的姿态控制是其稳定飞行的基础。传统PID控制算法在四旋翼飞行器的姿态控制中往往存在参数适应性差的缺点,仿人智能控制(HSIC)可以通过特征辨识对系统采取不同的控制模态,调整控制参数,很好地解决传统PID控制算法的缺点。依据仿人智能控制(HSIC)理论,设计一种四旋翼飞行器姿态控制器,并对相关参数进行简化,通过在MATLAB中对四旋翼飞行器进行建模仿真,并与传统的PID控制器进行比较,验证了上述控制器的稳定性、抗干扰性和鲁棒性,结果表明上述控制器的控制性能更好,结构简单且响应速度更快、抗干扰性和鲁棒性更强。 The attitude control of quadrotor is the basis of its stable flight. The traditional PID control algorithm often has the shortcomings of poor adaptability of parameters in the attitude control of quadrotors. Humanoid intelligent control (HSIC) can take different control modalities to the system through feature identification, adjust the control parameters and solve the traditional PID Disadvantages of control algorithms. According to Humanoid Intelligence Control (HSIC) theory, a quadrotor attitude controller is designed and the relevant parameters are simplified. The quadruped rotor vehicle is modeled and simulated in MATLAB and compared with the traditional PID controller. The stability, anti-interference and robustness of the above controller are verified. The results show that the controller has better control performance, simple structure and faster response, more robustness and robustness.