With　the　increasing　radius　of　life　now,　the　demand　for　drones　has　shown　a　blowout　growth.　In　order　to　improve　the　tracking　accuracy　and　control　stability　of　UAV,　this　paper　presents　a　UAV　control　method　based　on　model　predictive　control　algorithm.　Firstly,　the　four-rotor　UAV　model　is　established　in　the　rigid　body　kinematics　and　dynamics,　and　the　physical　modeling　of　the　UAV　is　carried　out　in　the　ideal　condition.　After　that,　the　navigation　coordinate　system　and　the　body　coordinate　system　are　introduced,　which　makes　the　relevant　force　analysis　and　coordinate　transformation　easier　to　understand.　Then,　the　model　predictive　control　algorithm　is　fused　with　the　four-rotor　UAV　model.　The　control　strategy　based　on　online　optimization　has　the　advantages　of　constrained　system　variables,　rolling　optimization　and　quadratic　programming　in　the　optimal　control　to　improve　the　control　accuracy　of　the　UAV.　Then,　the　four-rotor　UAV　is　modeled　on　MATLAB.　Its　controller　controls　the　acceleration　of　the　UAV　by　controlling　the　tilt　Angle　of　the　propeller,　and　the　output　of　the　controller　is　the　target　value　of　the　attitude　Angle.　Finally,　it　is　pointed　out　that　model　predictive　control　can　also　be　applied　to　UAV　cluster　and　real　life,　which　increases　the　practicability　and　scientificity　of　this　study.　©　2024　IEEE.