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In order to achieve the good performance about position controller of small unmaned aerial vehicle(UAV),the self-research plants protect UAV is selected as the target. During the design processing, we need to solve the error of modeling ,the change of parameter, the low accuracy of GPS and external interference. A Kalman filter is designed to realize data filtering and estimate the unobserved state value. Then the reference model and slide mode controller is combined to minimize the tracking error between the state variables of the vehicle and the state variables of the reference model. The experimental result shows the good performance of designed controller under various experimental conditions.