<p>The present article introduces a novel auto-tune coupled adaptive controller design for achieving optimal trajectory tracking. It is a hybrid design, combining two distinct controller types into a synchronized control strategy, enabling effective trajectory tracking. The first controller is active disturbance rejection control (ADRC), while the second is extremum-seeking control (ESC). Together, they form the proposed extremum-seeking ADRC (ES-ADRC) controller design, which significantly enhances the tracking accuracy of the quadcopter. The ADRC design scheme is single-tuneable and exhibits reduced dependency on the system model, thereby contributing to the stability and robustness. On the other hand, ESC is a model-free control approach that offers an adaptive online-tuning mechanism for ADRC for minimizing tracking errors by auto-tuning the parameters of the ADRC. ADRC tuning parameters include observer bandwidth of the nonlinear extended state observer and controller bandwidth of the nonlinear state feedback control law. The proposed control strategy guarantees tracking accuracy and is suitable for systems with model parameter uncertainty and systems affected by external disturbances. The proposed design is validated on a quadcopter dynamic environment in the simulation environment. State and input constraints of the quadcopter system are incorporated in the simulation to mimic the real-time scenario. The ES-ADRC design, as proposed, shows significantly enhanced tracking performance. The proposed design is compared to that of proportional-integral-derivative, LQR and ADRC and analysed with the integral absolute error performance index.</p>