For unmanned aerial vehicles, especially for their tracking during their operations, communication systems have become more vital which are used in a variety of research projects. In communication systems, directional antennas are commonly employed, and they should track the UAVs continuously and effectively with minimal faults. An “Antenna Tracker” system was created for this purpose, which is capable of real-time autonomous orientation based on GPS data from the UAV. In the beginning, the system’s 3-dimensional solid model was created via CAD, and its model was obtained in MATLAB / SimulinkTM environment. To control it, a discrete-time model-based computed torque proportional controller was designed. By conducting the STM32 board, the antenna tracker system showed high accuracy in terms of obtaining the correct position during its operation.