In order to solve the problem of model uncertainty and external wind disturbance in the process of quadrotor attitude control,an inner and outer-loop control method is proposed.The active disturbance rejection controller is designed in the inner loop,in which the extended state observer and nonlinear state error feedback controller are adopted to estimate and compensate for the total disturbance of the system in real time.The non-singular terminal sliding mode controller is designed in the outer loop to improve the response speed of the system,and the stability of the control algorithm for the inner and outer loops is verified.The simulation results of attitude angle tracking show that the designed controller has high tracking accuracy and good anti-interference ability,and can effectively realize the attitude control of quadrotor.