Abstract: The model uncertainty and external disturbance of quadcopter will have a significant impact on its flight control. In order to improve the robustness and anti-jamming ability of the control system, a linear active disturbance rejection controller (Linear Active Disturbance Rejection Controller, LADRC) is designed based on the double closed-loop control model of the quadcopter. The differential evolution algorithm (Differential Evolution, DE) was used to optimize the controller parameters, which solved the problem that the controller parameters were difficult to adjust. An improved differential evolution algorithm using Levi's flight was proposed, which had a faster convergence rate than the basic differential evolution algorithm and the improved method with simulated annealing strategy. The trajectory tracking and anti-jamming simulation experiments of the quadcopter were carried out under the optimized parameters. The simulation results show that the robustness and anti-interference ability of LADRC are better than PID controller.