Aiming at the particularity of the unmanned helicopter landing carrier, to overcome the system perturbations, un-modeled dynamics and the influence of atmospheric turbulence, improve carrier-based unmanned helicopter safety and accuracy of the ship landing, based on sliding mode control method, respectively design the control system of trajectory tracking control law and the attitude control law. The position controller is based on the output bounded twisting controller, and the trajectory tracking algorithm is used to guarantee the generation of bounded expected attitude angle and the total distance. The attitude part adopts the attitude loop control equation with the small perturbation linearization, and the model reference adaptive sliding mode controller is designed, the error caused by the external interference is offset by the adaptive term, and the stability of the system and the convergence of tracking error are proved by the Lyapunov stability theory. The experiment is verified by simulation. The results show that the designed controller can satisfy the requirement of disturbance and model parameter perturbation of unmanned helicopter, and the design method is simple, robust and easy to be realized by engineering.