To solve quadrotor unmanned aerial vehicle (UVA) control system of poor robustness and low control precision problem, combining the advantages of variable universe theory, fuzzy PID algorithm and cascade PID algorithm, this paper proposes a stance based on variable universe fuzzy PID cascade control algorithm. Quadrotor UAV system dynamic mathematical model is established, on the basis of the model cascade variable universe fuzzy PID control system design, different combinations of controller, use the outer ring and inner ring angular velocity loop to control the quadrotor attitude. The comparison of the simulation curves obtained by the control system designed by the conventional cascade PID algorithm and the cascade variable universe fuzzy PID algorithm shows that the cascade variable domain fuzzy PID control method can meet the requirements of fast response speed and high stability of quadrotor aircraft, it’s overshoot is 8%, the control effect is obviously better than the cascade PID control method.