This paper describes the results of an on-going effort at West Virginia University (WVU) and University of Perugia (Italy) focused on the analysis and design of control and modeling tools for autonomous refueling for UAVs. This effort starts from the design of a simulation environment modeling a (tanker+ UAV+ refueling boom) system. Next, a specific control scheme is introduced for the docking of the UAV to the drogue of the refueling boom. A fuzzy sensor fusion strategy, featuring a combination of GPS-based and artificial vision-based measurements is used. In particular, up to a distance of 80 m from the drogue the maneuver is driven by GPS measurements starting from a distance of 80 m the docking control laws are driven by a combination of measurements from both the GPS and an artificial vision system. Finally, in the terminal phase of the docking the control is completely driven by the vision-based sensor. A robust multivariable H∞, controller has been designed for the UAV to track the reference signal generated by the fusion strategy. Simulations results are presented featuring a nonlinear closed-loop model of a B747-as the tanker-and a F-4 model-as the UAV. The tanker features a conventional autopilot system designed using a conventional Linear Quadratic Regulator approach. A finite elements model has been used to model the flexible boom. 1