In this study, we propose an innovative inner–outer loop control framework for a quadcopter unmanned aerial vehicle (UAV) that significantly enhances the trajectory-tracking speed and accuracy while enhancing robustness against external disturbances. The inner loop employs a Linear Active Disturbance Rejection Controller (LADRC) and the outer loop a proportion integral differential (PID) controller, unified within a fuzzy control scheme. We introduce a Self-Adaptive Bald Eagle Search Optimization algorithm to optimize the initial controller settings, thereby accelerating convergence and improving parameter-tuning precision. Simulation results show that our proposed controller outperforms the conventional two-loop cascade PID configuration, as well as alternative strategies combining an outer-loop PID with a second-order inner-loop LADRC or a fuzzy-enhanced PID-LADRC approach. Moreover, the system maintains the desired position and attitude under external perturbations, underscoring its superior disturbance-rejection capability and stability.

To enhance the rapid and stable tracking of a specified trajectory by quadcopter drones, while ensuring a degree of resistance to external wind disturbances, this paper proposes an integrated control strategy that combines an optimization algorithm and fuzzy control. In this system, both the position and attitude loops utilize second-order Linear Active Disturbance Rejection Control (LADRC) controllers, supplemented by fuzzy controllers. These controllers have been optimized using a modified crayfish optimization algorithm (MCOA), resulting in a dual-closed-loop control system. In comparisons with both the dual-closed-loop LADRC controller and the dual-closed-loop fuzzy control LADRC controller, the proposed method reduces the rise time by 52.87% in the X-channel under wind-free conditions, reduces the maximum trajectory tracking error by 86.37% under wind-disturbed conditions, and reduces the ITAE exponent by 66.2%, which demonstrates that the newly designed system delivers excellent tracking speed and accuracy along the specified trajectory. Furthermore, it remains effective even in the presence of external disturbances, it can reliably maintain the target position and the attitude angle, demonstrating strong resistance to interference and stability.