Abstract: To solve the taxiing rollover problem which is likely to happen during deviation correction for small UAV, a mathematical model of UAV taxiing was established to analyze the cause of rollover.A fuzzy logic controller was designed for correcting the heading deviation, which provided synergetic controlling of nose wheel, elevator and aileronto improve the taxiing stability of UAV.The fuzzy-PID control system based on ACO (ant colony algorithm) was designed to optimize PID parameters offline and adjust PID parameters online.The simulation and experiments results show that the control system can correct the heading deviation effectively, and increase the taxiing stability of small UAV.