An adaptive proportion integration differentiation (PID) control strategy is proposed for the uncertainty and external disturbance in the control process of quadrotor aircraft. An integral term is added to the feedforward compensation proportion derivative (PD) control in the outer loop position controller design to eliminate the steady-state error of the system and improve the tracking accuracy through mathematical derivation and simulation analysis. In the design of the inner loop attitude controller, the adaptive RBF neural network is used to compensate the design of PID. After repeated algorithm optimization and model verification, an efficient controller model is constructed. Based on the designed quadrotor aircraft model, the simulation test is carried out combined with the proposed control strategy. The experimental results show that the proposed method can efficiently compensate the external interference suffered by the system, effectively improve the stability of the system, and show good control ability.