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Aiming at solving the system problems of nonlinear, strong coupling, uncertainty and poor robust with the quadrotor in flight process, this paper establishes the dynamic mathematical model of quadrotor, A fast and stable control strategy based on adaptive fuzzy sliding mode control (AFSMC) is proposed by combining adaptive control, fuzzy control and sliding mode control. The approximation of ideal control law is realized by using fuzzy system inference method. Under the premise of satisfying the Lyapunov stability conditions, we performed to controller design and stability analysis, and MATLAB simulation was carried out with four rotor mathematical model and parameter is given. The simulation results show that the AFSMC controller has good dynamic performance and anti-disturbance ability compared with the conventional PID controller.