To improve the control accuracy and safety of autonomous landing of unmanned aerial vehicles （UAVs）， we take a high-speed UAV as the research object， and adopt the total energy control system（TECS） in the steep descending section to track the descending trajectory with simultaneous changes of altitude and velocity. The velocity control is added to the pull-up section， and on the basis of the exponential pull-up， Gaussian pseudo-spectral trajectory optimization method is used to design the speed trajectory with monotonically reduced throttle. Meanwhile， the lifting velocity control law is designed based on active disturbance rejection control（ADRC） method to realize the accurate control of touchdown speed. In the end， an object model is built under the MATLAB/Simulink platform to simulate the UAV autonomous landing closed-loop control system， and the Monte Carlo method is used to verify the robust performance of the control system under the condition of uncertain parameters. Simulation results show that the proposed trajectory design method and control structure can meet the requirements of landing performance， and the control system has strong robustness.