The invention discloses a robust fault-tolerant tracing method of an unmanned helicopter. The robust fault-tolerant tracing method comprises the steps of building a six-freedom non-linear dynamic model, comprising main rotor dynamic waving and executor fault, of the unmanned helicopter; dividing a unmanned helicopter system into a position sub-system, a gesture sub-system and a waving sub-system,and designing an auxiliary state observer for each sub-system; and building a robust fault-tolerant controller to prevent influence of the fault on the system according to the designed auxiliary stateobservers of the three sub-systems. Stability can be maintained under considering influence of rotor dynamic waving and executor fault, and meanwhile, an expected reference track is traced.