Considering the complex characteristics of quad-rotor aerial vehicles,such as multiple variables,strong coupling and the constraints,we proposed a controlling method based on explicit model prediction. According to the dynamic characteristics of the quad-rotor flight system,a nine-state space model was built,which was decoupled into two subsystems.Then,the explicit optimal controlling law of the quad-rotor flight system is calculated offline by multi-parameter quadratic programming,and the controlled quantity corresponding to the current state was searched online. Numerical simulation and experiment results show that the proposed method has the advantages of short adjusting time,small overshoot and certain anti-disturbance ability,as well as meeting the constraint requirements,and the stability control of the attitude is successfully achieved.