In order to solve the problem of directional instability of the target drone, the stability augmentation control law is designed as the basis for subsequent control law designs. Then, according to the nonlinear dynamic characteristics of S maneuver, a hybrid control method consisting of robust servo mechanism linear quadratic regulator and adaptive dynamic offsets is used to design the tracking control law of lateral S maneuver command, which can make the roll angle and flight-path angle respond quickly as well as eliminate the sideslip angle rapidly. In order to decrease the coupling effect among channels in the process of S maneuver, the decoupling offsets control law is designed. The S maneuver control command is designed by analyzing the motion relationship between physical quantities in the process of S maneuver. A numerical simulation under Matlab/Simulink environment is carried out. The results show that the S maneuver control law can overcome the external disturbances effectively and track commands well.