Abstract: In the process of executing the task, the stability of the attitude and the accuracy of the tracking are extremely required for the quadrotor unmanned aerial vehicle QUAV. However, wind disturbances and other external disturbances can seriously degrade the performance of QUAV system. In order to quickly estimate the disturbance, an adaptive sliding mode disturbance observer ASMDO method is proposed. A non-singular terminal sliding mode controller NTSMC based on disturbance compensation was also designed to realize the accurate and fast trajectory tracking of the QUAV. It is proved that both the estimation error and the trajectory tracking error of ASMDO can be stabilized in a finite time when the boundary of the disturbance derivative is unknown. The effectiveness of the proposed algorithm is verified by software-in-the-loop simulation SITL and hardware-in-the-loop simulation HITL.