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The deviation-correction control for UAV taxing is studied. The various forces and torques from the ground are fully analyzed. The model of the ground forces and torques is established by introducing the wheel coordinates. In order to apply the classic theory for control design, the model of UAV is transferred into a SISO system by distributing the command between the rudder channel and the node wheel channel. Using this model, based on the parameters of a civil UAV, a deviation-correction control system using node wheel and rudder is designed. The simulation shows that the designed system satisfies the demand and has good dynamics at both low speed and high speed, and has a better ability against lateral wind.