For the problem of position and attitude tracking control of coaxial octorotor UAVs, a neuro-adaptive sliding mode control approach is proposed in consideration of model uncertainties and external disturbances.Firstly, the dynamic system of coaxial octorotor UAV is divided into two subsystems, that is, a fully actuated subsystem and an under-actuated subsystem.Then, the model parameter uncertainty and external disturbance terms are estimated by using neural network, and a proper sliding mode controller is designed.Based on the designed controller and Lyapunov stability theory, the state trajectories of the two subsystems can be driven onto the corresponding sliding mode surface asymptotically, which ensures that the position and attitude tracking control of coaxial octorotor UAV can be performed.Finally, abundant simulation results have verified the effectiveness of the proposed approach.