The nonlinear model of Unmanned Aerial Vehicle( UAV) has been recognized. Airosim Matlab toolbox has been used to guarantee a simulation model for the Aerosonde.In the first stage, a linearization technique is used to calculate the mathematical model of the UAV at a specific operation point, then PID controller is used to stabilize this linear model. At the final stage, an augmented feedback neural network adaptive controller is applied to stabilize the overall nonlinear system.