A feedback gain robust backstepping tracking control method based on the nonlinear disturbance observer is proposed in order to implement the path tracking for the unmanned parafoil vehicle(UPV) in the presence of disturbance. Firstly, a nonlinear disturbance observer (NDOB) based on the second order tracking-differentiator is employed to estimate the compound disturbance and make compensation to the control input, and a feedback gain backstepping tracking control law is designed. Then by properly designing gain parameters, a part of complicated nonlinear terms are eliminated, and higher derivatives of virtual control variables are avoided so as to make the controller simpler. Finally, robust feedback compensation terms are designed by using the Lyapunov theory to improve system robustness while ensuring stability. The simulation results show the effectiveness of the proposed controller.