The movement of sixrotor aircraft is introduced in this paper, and its kinetic model is established according to the NewtonEuler equations. The design of fuzzy selfadaptive PID controller is accomplished on the basis of relevant theories of fuzzy control and design process of fuzzy selfadaptive PID controller. Through the analysis of simulation results under Matlab/Simulink simulation system, the controller designed could finish the hover task and achieve the stability control of the aircraft. Finally, control stability of sixrotor aircraft is verified by experiments.