To　improve　the　path　following　accuracy　and　flight　robustness　of　quadrotor　UAVs,　an　adaptive　robust　path　following　controller　based　on　parameter　estimation　is　proposed.　The　controller　can　adaptively　estimate　the　gyroscopic　factors　and　drag　coefficients　for　the　UAV　model,　compensate　the　system’s　control　input　based　on　estimated　values,　and　offset　the　negative　impact　of　the　external　environment　with　an　anti-interference　capacity.　The　controller　can　effectively　improve　the　path　following　and　anti-interference　performance　of　quadrotor　UAVs.　First,　a　nonlinear　mechanical　model　of　a　quadrotor　UAV　is　established.　Second,　the　path　following　targets　for　UAVs　are　divided　into　attitude　angle　targets　and　moving　position　targets.　Third,　the　backstepping　sliding　mode　method　and　adaptive　control　method　are　used　to　design　the　control　input　equation　and　the　estimation　updating　law　of　the　UAV.　Simultaneously,　the　asymptotic　stability　of　the　UAV　attitude　system　and　motion　position　system　is　verified　by　applying　the　Lyapunov　method.　Lastly,　the　effectiveness　and　superiority　of　the　proposed　controller　are　verified　by　simulation　and　experiments.　©　2022　China　Ordnance　Society.　All　rights　reserved.