The quadrotor aircraft is very complex in flight control system, and it is easy to change the flight attitude by external factors in flight. In order to ensure the aircrafts attitude to achieve adaptive balance system with timevarying vehicle dynamics model, design a kind of adaptive neural fuzzy inference system (ANFIS) control method proportional integral derivative (PID), which has the ability of automatic detection, processing and execution. It can effectively eliminate the phenomena of process and concussion and so on in flight. It was simulated in Matlab/Simulink by collecting data, at the same time, some common interference factors were added manually. The change curves of each control channel were observed, and then the realtime and effective adjustment of the flight attitude was made by the adaptive control system. It ensures very well the stability and robustness of the aircraft in the flight attitude control.