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The unmanned combat aerial vehicle (UCAV) is a intelligent weapon. Based on artificial brain theory, its autonomous control system was divided into three layers which are perception fusion layer, cognition and decision layer, and behavior control layer. In perception fusion layer, information was transmitted from multi-sensors system to relative system and was fused ultimately. In cognition and decision layer, a cognitive model was designed based on three-phase memory mechanisms which were ultra short-time memory and long-time memory. In behavior control layer, planning function was added that increased behavior intelligence. The flight control was simulated using dynamic inversion method. And the result showed the design of execution sub-system was reasonable through tracking the mobile trajectory.