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Aiming at the high requirement of trajectory tracking and flight Euler angle in the recovery stage of the sliding UAV,the UAV landing control method is designed in this paper.First, the structure of sliding controller is designed, including the design of the lateral and vertical sliding controller. The control methods of linear trajectory and Circle trajectory control of the sliding are given in detail.Then,the sliding model was designed, and the sliding process was divided into four stages: descending, leveling, gliding and flattening. The key technical formulas of pitch angle control and altitude are given in the flatten stage.The simulation results show that the yaw position error of the control system is less than 5 m in the level flight section and about 0 m when landing on the ground;and the altitude control error is 0 m,The height control error in the glide section is 2m, and the pitch angle is 0.4 degrees when the UAV contacts the ground.the sliding control model of UAV designed in this paper has the advantages of small height control error, short yaw distance and high safety of landing attitude angle, and can meet the control requirements of UAV in the sliding stage.