针对四旋翼无人机姿态控制中反馈信号存在强噪声干扰时PID控制效果变差的问题，提出了一种基于跟踪微分器的PD控制器设计方法，并利用粒子群优化算法（PSO）整定跟踪微分器参数。首先,针对跟踪微分器对信号的跟踪与滤波作用，分别提出了基于跟踪误差的跟踪性能评价指标与基于高频信息能量的滤波性能评价指标，然后利用跟踪性能评价指标和滤波性能评价指标的加权和作为适应度函数设计PSO算法整定跟踪微分器参数；最后的仿真实验证明，当四旋翼飞行器的传感器量测噪声较强时，基于该方法的控制器具有良好的控制性能。

To the problem that the traditional PID controllers has low effectiveness when there is strong noise in feedback signal Quadrotor UAVs attitude control process, a PD controller based on Tracking-Differentiator (TD) is proposed, in which Particle Swarm Optimization (PSO) algorithm is applied to tune parameters. First, according to the tracking and filtering performance of TD to signals, the index for evaluating the tracking performance and filtering performance is proposed respectively based on tracking error and high-frequency information energy. Then, the weighted sum of them is used as fitness function of PSO algorithm. The simulation results verify that the proposed PD controller has good effectiveness in attitude control under the condition of strong noise.