Aimed at the problem of controlling the motion of micro unmanned aerial vehicles (MUAVs), an S-plane controller with good non-linear control performance is introduced that uses intelligent control ideas to achieve adaptive adjustment of the parameters of the S-plane controller. Based on the proposed controller, a motion control system for MUAVs is designed. Simulation and field tests show that the proposed intelligent S-plane controller has good control accuracy, response speed, and adaptability to environmental interference, which makes it suitable for controlling the motion of MUAVs.