In order to address the issues of poor robustness and low control accuracy of attitude control systems for ducted UAVs in narrow spaces due to influence of turbulance,the self-developed coaxial twin-rotor ducted UAV is used as the research object for kinematic and dynamic modeling.Based on this,modeling errors and external disturbances during flight are considered.A cascade method of PID and Adaptive Disturbance Rejection Control (ADRC) is used to design the attitude control system of the ducted UAV.A simulation model is built for contrast experiment of the UAV under ideal and turbulent wind disturbance conditions.Finally,flight tests are conducted on a real aircraft.The results indicate that the designed attitude control system has good robustness and anti-interference performance.