Aiming at the parameter uncertainty and external disturbance in the trajectory tracking process of quadrotor UAV, a double closed-loop adaptive control strategy is designed. In order to reduce the complexity of the controller design, the system is divided into an attitude inner loop and a position outer loop according to the underactuating characteristics of the quadrotor UAV system. Based on the disturbance observer, the integral backstepping control algorithm is used to complete the stable tracking control of the UVA's position information under the influence of external disturbance. Based on the disturbance observer, the adaptive sliding mode control algorithm is used to complete the stable tracking control of the UAV's attitude information under the influence of parameter uncertainty and external disturbance. Compared with the traditional PID control and sliding mode control, the superiority of the proposed control strategy is verified.