Unmanned aerial vehicle (UAV) technology has been applied to more and more fields

such as military and agriculture. The PID control algorithm is still used on most four rotor aircraft

but the adjustment of its parameters depends on the accurate kinematic model and the adjustment time is longer. Aiming at the slow and poor precision of PID controller．An improved PID controller is adopted to improve the speed and stability of the four rotor aircraft. The system model of PID controller based on differential evolution algorithm is studied. Compared to the PID controller based on Ziegler Nichols tuning method

the rising time of the system is increased by 36%. Through MATLAB simulation

the results show that the use of differential evolution algorithm to adjust the attitude of the four rotor aircraft can not only improve the stability of the four rotor aircraft

but also improve the speed of the attitude adjustment of the four rotor aircraft．