An adaptive dual-loop cascade robust controller is proposed to track the trajectory of miniature helicopters considering the unknown external disturbances. The helicopter cascade model with unknown disturbance is established. For position tracking, the outer loop controller is developed by backstepping method, and the adaptive algorithm is introduced to compensate the unknown disturbance. For attitude tracking, a global fast terminal sliding mode inner loop controller with exponential reaching law (EGFTSMC) is developed, which realized the convergence of the helicopter attitude to desired angle fairly fast and has the robustness to external disturbances. The extraction criteria of main rotor thrust and desired attitude is proposed for the strong coupling problem between position and attitude, which also avoid the singularity problem during the extraction. The stability of closed-loop system is verified based on Lyapunov method, while simulation experiments prove the performance of the proposed controller.