In order to satisfy the demands of stabilized control for airborne platform mounted on multi-rotor Unmanned Aerial Vehicle (UAV),a fuzzy adaptive PID hybrid control strategy with a fuzzy switching condition is put forward,and the control structure has dual rate-speed loops.Analysis is made to the anti-disturbance ability of control structure,and self-adjusting factor and self-learning control rules are introduced to improve the rapid response capability of the system.The variable integral PID control is used to ensure high and stable precision of the system.The fuzzy switching condition guarantees the switching of hybrid control smoothly.Results of dynamic response and steady-state precision experiments show that the adjust time of system is about 20 ms,and the stable accuracy is 0.13 mrad.The proposed method realizes the stable control of airborne platform effectively,and can meet the application requirements of multi-rotor UAV.