Abstract: The full envelope robust control of flying wing UAV is a difficult point because of its wide envelope and non-conventional layout. In this paper, a flight control scheme was proposed based on adaptation cascade active-disturbance-rejecdon control (ADRC) technique. The robust control design was divided into two steps; Firstly, a nonlinear mathematical model for the algorithm of flying wing UAV was deduced. Secondly, the flying wing UAV inner and outer ADRC attitude controller were designed respectively, the extended state observer was used to estimate and implement dynamic feedback compensation, and then the NLSEF was used to inhibit the compensating residual; ADRC controller was designed without a precise model of vehicle, and without precise perturbation boundaries of aerodynamic parameters. The simulation shows that the control structure is robust from low altitude and low speed to high altitude and high speed. The control system can overcome the impact of large-scale perturbations of interference and aerodynamic parameter.