An outer loop guidance architecture was designed to control autonomous aerial refueling mission from the trail aircraft side. The design utilized bank, yaw rate, velocity and climb rate commands implemented using a previously developed adaptive trajectory concept. The concept was based on position error feedback that was used to control trail aircraft overshoot and tracking about the lead aircraft refueling point. To demonstrate this application, an open loop linear trail aircraft model at a given flight condition was selected. Inner loop control laws were designed using Linear Quadratic Regulator feedback controller and Balanced Deviation theory. The outer loop guidance architecture was then added to implement the application. The performance of the system was then evaluated for a selected position error, and disturbance.