Taking the proportional navigation method of missile guidance law for reference, this paper proposes an guidance law based on rate of change in altitude (H· ), which can reduce the UAV motion sensitivity to the change of recycling network parameters, and gain a relatively straight and steady decline trajectory. According to the motion feature of recycling network center along with the wave motion in net recovery process of UAV, a Robust Servomechanism LQR (RSLQR) control law is designed based on RSLQR control method by taking H· as the main control variable. This control structure has satisfactory robustness and high control accuracy, which can satisfy the performance requirements of dynamic net recovery. The results of nonlinear simulation verify the feasibility of the method, and show that the designed controller can eliminate the position error caused by wind, and increase the rapidity, accuracy and stability of the system.