Andhra need 157 more runs with nine wickets in hand on the fourth and final day tomorrow.
At the close of play, KS Bharat was unbeaten on 16 and skipper Mohammad Kaif was yet to open his account.
Earlier, resuming on 39 for three in their second innings, Uttar Pradesh lost two early wickets to be reeling at 52 for five.
Uttar Pradesh finally got all out for 309, setting the hosts a target of 183 runs.
In their second essay, Andhra lost a wicket in the form of opener DB Prasanth (6).
Brief scores:
Uttar Pradesh: 170 & 309 (Eklavya Dwivedi 72, Mohammad Saif 56, Praveen Kumar 53; DP Vijaykumar 4/68).
Andhra: 297 & 26 for one in 11 overs.
