Aiming at the issue of trajectory tracking control of a quadrotor under wind gust disturbance, a hybrid control algorithm combining the integral backstepping control with PID control is proposed. Firstly, the force situation of the quadrotor was analyzed and the dynamical equation was established by Newton-Euler method.Secondly, according to the time scale principle, the control structure of the quadrotor was divided into position control loop and attitude control loop. The former adoptedthe integral backstepping control method to restrain the external disturbance The latterwas stabilized by PID control. At the same time, the particle swarm optimization algorithm was introduced to adjust the parameters of proposed control algorithm. Finally, the validity of the control algorithm was verified through a spiral line. Simulation results show that the proposed algorithm hasthe ability of robustness, stability and applicability, which can meet the needs of quadrotor tracking control.