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The track tracking control system of the four-rotor UAV currently studied is unstable, which leads to inaccurate tracking results. In order to solve the above-mentioned problems, a new four-rotor UAV track tracking control system was designed based on MPC. Through the air flight controller, the ground controller and the manual intervention device, the tracking control of the UAV route is realized. The main function of the air flight controller is to ensure that the UAV will fly according to the established route. The hardware involved mainly includes the GPS navigation and positioning module, the attitude evaluation module (MTI), the flight control system computer, and the display module. The main function of the ground controller is to detect the surrounding flight environment, avoid these obstacles to plan a safe route, and transmit it to the air autonomous flight control system. The hardware involved includes the wireless communication data connection circuit and the ground terminal control module. The manual intervention module can manually intervene in unexpected situations during the flight to avoid danger caused by emergencies. The main hardware includes the Futaba controller and the supporting RS5803 receiver. Take VS2010 as the development environment and use C++ software to design the software process. The experimental results show that the MPC-based four-rotor UAV track tracking control system can effectively ensure the stability of the tracking control process and improve the accuracy of the control results.