设计了一个四旋翼飞行系统,提出了一种自抗扰控制方法,解决了该飞行系统的姿态控制问题.将显性互补滤波器与扩张状态观测器相结合,实现了对系统的状态与内外总扰动的实时估计,并在此基础上利用非线性误差反馈控制律对该扰动进行了补偿,消除了内外扰动对系统的影响.最后,分别采用PID与ADRC算法实现四旋翼的姿态控制,对比结果验证了所采用的自抗扰控制方法的有效性和优越性. A four-rotor flying system is designed and a self-disturbance rejection control method is proposed to solve the attitude control problem of the flight system. By combining the dominant complementary filter with the extended state observer, The real-time estimation of the total disturbance, and on this basis, the nonlinear error feedback control law is used to compensate the disturbance and eliminate the influence of internal and external disturbances on the system.Finally, PID and ADRC algorithms are used respectively to realize the attitude control of the quadrotor, The results verify the effectiveness and superiority of the ADRC method.