The oil-driven quad-rotor UAVs have the problems as under-actuation, large time-varying environmental error and high nonlinearity. To obtain a more precise control quantity, a control algorithm based on adaptive integral backstepping method and hybrid filtering algorithm is proposed, which is then used in the control system of an oil-driven quad-rotor UAV with high vibration noise. Comparison experiments are made under the same simulation conditionsand the result shows that: Compared with the integral backstepping method, the UAV using the control algorithm of adaptive integral backstepping method combined with the hybrid filtering algorithm is more robust to the strong noise interference, and the UAV can hover stably with fine control effect.