Abstract: To address the problems of parameter uncertainty and susceptibility to external disturbance of Quadrotor aircraft, a nested inner-outer ring control strategy is proposed, with the RBF (Radial Basis Function) neural network sliding-mode control (RBF-SMC) as the outer ring, and with active disturbance rejection control (ADRC) as the inner ring. Firstly, a mathematical model of the four-rotor aircraft is built according to the Newton-Euler equation, which can be used to control the position and attitude of the four-rotor aircraft. The RBF neural network sliding-mode control is adopted for the outer ring. Uncertain terms of model disturbance are compensated based on the RBF neural network, its gain is adjusted in real time, and the "chattering" problem caused by sliding-mode control is suppressed. The active disturbance rejection control is adopted for the inner ring. The extended state observer (ESO) can be used for observation, and to compensate for parameter uncertainty (such as internal coupling) and external disturbance. Then, the Lyapunov method is used to prove the stability of the closed-loop system. Finally, simulation experiments are carried out in the Matlab/Simulink platform. The simulation results show that the designed controller can not only suppress external disturbance, but also achieve accurate tracking of expected flight trajectory.