Abstract: Aiming at the problems of catastrophe of mathematical model at the out-of-water moment, dramatic variation of speed and subsequent extensive parameter change when the mine attacks an aerial target, the nonlinear sliding mode in catastrophic course and the adaptive backstepping control methods are proposed. A nonlinear tracking controller for trajectory state change is designed combining the adaptive adjustment of the parameter with the variable structure, in order to predict and regulate the system dynamics by the trajectory characteristic reference model, simplify the switching function design, and overcome the sensitivity to model parameter change. The adaptability of the method has been tested and verified through the out-of-water attack trajectory control system experiment. Experimental and simulation data indicate that the designed control system is suitable for the out-of-water catastrophic course, and is quite robust to system parameter perturbation and interference.