For the motion control of four-rotor UAV in attitude, the main method is the application of ADRC (active disturbance rejection control) system. For this system to deal with the complex interference with sensor noise, the previous fal function design still has many defects in application. Under the function of traditional fal function, the ESO(extended state observer) has the problems of insufficient observation accuracy and high chattering rate. Therefore, a new nonlinear smooth tfal function was improved on the basis of the previous fal function, and ESO was studied with this function. Finally, other ADRC methods were compared with this method in MATLAB/Simulink software, and the newly designed tfal function shows better convergence. The new ESO based on tfal design has obvious improvement in error estimation and error following performance. At the same time, compared with the improved function galn and the traditional function fal, the tracking capability of the new ESO attitude active disturbance rejection control system is improved by 2.3% and 4% respectively, and the anti-interference performance is improved by 50% and 67% respectively.