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The Quad-Rotor Helicopter which is unsteady、nonlinear and coupled with each other makes it difficult to establish accurate mathematical model.for the problem,the design of predictive controller based on RBF-ARX mode were discussed.The RBF-ARX model is a combination model of linear autoregressive (Auto-Regressive eXogenous, ARX) model and Gauss radial basis function (Radial Basis Function) neural network (RBF),It can be used to establish the global model of nonlinear system and describe the nonlinear characteristics of nonlinear system.Predictive control strategy predicts the trend of the system’s output according to the input and output of the system , and the error feedback of the system’s actual output is adjusted to minimize the error.The structure of the RBF-ARX model was built firstly, the parameters’ identification, optimization were analyzed in detail.The predictive controller is designed based on this model.Finally, the simulation results and real time control verify the feasibility and validity of the method.