四旋翼飞行器以其低成本、小尺寸、机动灵活、易于操作等优点在近几年得到了广泛的应用，无论是在军事、民用以及娱乐等众多场合都能见到其身影。随着四旋翼飞行器的广泛应用，吸引了越来越多的飞行器爱好者对其研究，但由于其具有非线性、强耦合、结构复杂等特点，难以建立精确的数学模型对其进行精确稳定的控制，国内外学者针对其不同的控制目的，也提出了许多具有针对性的控制算法，并取得了一定的成果。 本文主要针对四旋翼飞行器的高度锁定进行控制，提出了基于模糊控制算法的四旋翼飞行器高度锁定控制方法。通过建立模糊控制器并离线生成模糊控制规则表，实现四旋翼飞行器高度锁定的在线控制。该模糊控制器以飞行器的实际高度和实际高度与锁定高度的高度差作为模糊控制器的输入量，以飞行器油门通道的量化值作为模糊控制器的输出量，采用双输入单输出的模糊控制器结构，使用在飞行器高度锁定过程中手动操作的专家经验生成一系列语言控制规则，利用MATLAB模糊控制工具箱生成模糊控制系统，经过模拟操作后生成模糊控制系统的输入输出量，再将这些输入输出量装载进提前准备好的查询系统，最后生成经过去模糊化后的模糊控制规则表。将生成的模糊控制规则表装载进飞行器控制系统中实现在线控制。由于模糊控制在建立语言规则以及确定模糊集合隶属函数参数时的主观性，该模糊控制规则表未必能准确反映该飞行器系统的实际飞行状态，所以，论文最后利用大量的实验数据采用梯度下降法对该模糊控制系统中的隶属函数的参数进行优化，使其能准确反映该飞行器系统的实际状况。 通过实验证明，经过梯度下降法优化后的隶属函数参数能更加准确的反映飞行器的飞行状况，本课题所研究的飞行器高度锁定控制取得了很好的效果。

Four rotor aircraft with the advantages of low cost，small size，flexible, easy to operate, has been widely used in recent years, both in the military, civil, and entertainment, and many other occasions can see its shadow. With the widely application of the four rotor aircraft, has attracted more and more aircraft enthusiasts to its research, but because of its complex characteristics of nonlinear, strong coupling, structure characteristics, it is difficult to establish accurate mathematical model for accurate and stable control, according to the different control purpose, many targeted control algorithm is proposed and obtained the certain achievement. The research mainly aims at the height of the four rotor aircraft locking control, fuzzy control algorithm is proposed .Generated off-line through the establishment of the fuzzy controller and fuzzy control rule table, realize four rotor aircraft height locking online control. The fuzzy controller based on the actual height and the actual height of the vehicle and lock the height of the height difference as input of fuzzy controller, with double input and single output fuzzy controller structure, the use of manual operation in the process of vehicle height locking experts experience to generate a series of language control rules, the fuzzy control system generated by the MATLAB fuzzy control toolbox, after simulation operation to generate the fuzzy control system of the input and output, then the input and output quantity loaded into the query system prepared ahead of time, at the last Generated after to blur control rules table. The generated fuzzy control rules table loaded into the aircraft control system to realize on-line control. Due to the fuzzy control in building the language rules and the subjectivity of determining fuzzy set membership function parameters and the fuzzy control rules table may not accurately reflect the actual state of flight of the aircraft system, so the paper the use of a large number of experimental data using the gradient descent method for the parameters of membership function in fuzzy control system are optimized, make its can accurately reflect the actual state of the aircraft system. Gradient descent method is proved by experiments and the optimized parameters of membership function can more accurately reflect the status of aircraft flight, this topic research the aircraft height locking control achieved good effect.