For the UAV speed control system, it is susceptible to parameter perturbation and external disturbance during flight, and the robustness is poor. Based on the mathematical model of certain type UAV, a robust H∞/S surface model control algorithm is proposed. The inner ring adopts robust H∞ control with strong robustness, and the outer ring adopts S-surface control algorithm with strong nonlinearity. The simulation results are verified without external disturbance, external disturbance and parameter perturbation. The results show that the control system is fast, accurate, robust and dynamic, and is more suitable for speed control of UAV.