Considering the problems of strong coupling, underactuation, nonlinearity and parameter perturbations in the system of quadrotor Unmanned Aerial Vehicles (UAVs), the Cerebellar Model Articulation Controller (CMAC) is introduced into the system and combined with the traditional PD controller to improve the static and dynamic performance of quadrotor UAV. The traditional PD controller is used to achieve feedback control of the height, and CMAC is for the feedforward control to realize inverse control of height mathematic model. The simulation results prove that: Compared with the traditional PID controller, our control method has less overshoot, faster response, better stability and stronger anti-jamming ability.