Abstract: An adaptive integral backstepping control method is applied to the control of a four rotor UAV equipped with a mechanical arm to handle the problem of unstable state caused by the influence of wind field on the four rotor UAV equipped with mechanical arm when working at heights. The coupling dynamic model of the robot arm and UAV under wind disturbance was established according to Newton Euler iteration method. The adaptive integral backstepping method was used to design the control loops of position, attitude and manipulator, which could counteract the influence of wind field on UAV and improve the stability and robustness of UAV in wind field environment. The effectiveness of this algorithm was verified in MATLAB/Simulink simulation experiments. Compared with the traditional backstepping control algorithm, the control effect of adaptive integral backstepping control algorithm is better.