The problem of controlling the motion of the center of mass of an unmanned aerial vehicle is considered. It is assumed that external uncontrolled disturbances act on the system, only the spatial coordinates of the center of mass and their driving effects are directly measured.Within the framework of the block approach, a feedback control law has been developed that ensures tracking of given signals is invariant with respect to external disturbances with a given accuracy. The use of sigmoidal nonlinear feedbacks ensures the fulfillment of design restrictions on speed and overload not only in the steady state, but also at the beginning of the transition process. To implement this algorithm in conditions of incomplete measurements, a reduced-order observer was constructed for estimating the velocity vector by measuring the coordinate vector of the center of mass. The results of numerical modeling confirmed the effectiveness of the developed algorithms.