Quadrotor aircraft was a typical underactuated, nonlinear, and strongly coupled system. Its attitude control accuracy and antidisturbance problem were always research hotspots. In order to realize the attitude control of small and lowcost quadrotor aircraft, the force of the quadrotor aircraft was analyzed in detail. The nonlinear dynamic model of the quadrotor was established by using the NewtonEulerian equation. Aiming at the fact that the quadrotor aircraft often encountered uncertain external disturbances such as gusts and airflow during the actual flight, a PID controller based on small disturbances was designed. The simulation test and result analysis of the MATLAB/Simulink simulation models of pitch, roll and yaw channels show that the designed control algorithm can meet the attitude control requirements of quadrotor aircraft and has better antidisturbance performance.