探勘技術現今主要分為衛星定位以及無人機拍攝，其中、無人機因操作機動性和 隱蔽性高、成本較低且不受地形障礙限制，故近年多運用在軍事用途上，以減少 人員傷亡。而無人飛行器執行空拍探勘與捜查資料時，天候為影響資料擷取的最 大不確定因素，為獲取較高精準的影像資料，因此如何提升機體平衡技術，為現 今無人機技術發展的重要課題之一。為此、本文擬設計並發展一結合量子群聚法 (PSO)的自適應模糊類神經系統(MANFIS)來調整PID參數的控制技術，並透過一四 軸飛行器模擬平台來改善機體平衡度的可行性評估和驗證。

Nowadays, the exploration technologies mainly rely on the satellite positioning or the video capturing of unmanned aerial vehicle (UAV). Here, for the UAV is with the natures of high mobility and secrecy in operation, low cost, and without the limits on terrain obstacles, UAV are numerously employed in military application to decrease casualties. However, weather condition is the major uncertainty that affects the video capturing of UAV. In order to obtain high-definition video data, how to level up the balancing technology for UAV becomes one of the most important topics in the UAV development. For above target, a novel PID tuning technology based on the integration of MIMO-ANFIS and PSO is designed in this paper. The control effectiveness is confirmed through the Matlab/Simulink simulation study on a quadrotor model.