This paper proposed a Unified Architecture Framework (UAF) model for small-scale autonomous Unmanned Aerial Vehicles (UAVs) controllers, which is based on the Unified Modeling Language/Systems Modeling Language (UML/SysML), in order to systematically analyze, design and implement control parts of UAVs. The paper brings out step-by-step the UAF-based development lifecycle of an UAV controller, including the overview dynamics and general control structure of UAVs to capture the requirement and control analysis models, as well as the specialization of UML/SysML’s features to design structures and behaviors in detail for the UAV controller. The detailed control design model is then converted into the object-oriented implementation model in order to quickly simulate and realize the controller. Based on this approach, a trajectory-tracking controller of a miniature quadrotor UAV was retro-designed and simulated.