Abstract: For the trajectory tracking problem of quadrotor UAV systems affected by periodic disturbances, considering the convergence characteristics of tracking errors, a full-loop active disturbance rejection control method based on prescribed performance is proposed. Firstly, the trajectory tracking problem of a full-loop is transformed into the command tracking problem by the analysis of dynamics model of quadrotor UAVs. And then, the harmonic disturbance observer and higher-order sliding-mode disturbance observer are designed in the position and attitude loop respectively to estimate of the lumped disturbances and unmeasured states. Finally, the composite dynamic inverse controllers with prescribed performance are designed in position loop and the composite dynamic inverse controllers are designed in attitude loop based on the disturbance estimation information and prescribed performance method. The simulations results show that the proposed control scheme effectively suppresses the influences of periodic disturbances and guarantees that the trajectory tracking errors can converge according with the prescribed performance.