Abstract: Aiming at the problems of cross coupling between pitch and yaw channels, actuator response delay, constraint of control authority, and uncertain internal and external disturbances in the design of attitude control system for gliding guided projectile, a disturbance rejection attitude decoupling controller is designed based on the active disturbance rejection control technique. The proposed controller has the advantages of simple structure, small computation, few control parameters, and independent of the accurate mathematical model. The feasibility and effectiveness of the controller are verified by numerical simulation. The results show that the proposed attitude controller can effectively realize pitch/yaw decoupling and fast and accurate tracking perfor mance, as well as the attractive ability of active disturbance rejection. In addition, the well-tuned control parameters are not sensitive to the perturbation of the model parameters in a wide range, to demonstrate strong adaptabilityand robustness of the controller, which can provide some reference for the design of the control system of the gliding guided projectile.