In this study, an attitude controller utilizing active disturbance rejection control (ADRC) is developed to effectively tackle the challenges of aerial refueling for unmanned aerial vehicles (UAV). To enhance the controller’s performance, a hybrid pigeon-inspired optimization algorithm with marine predators (HMPPIO) is introduced for parameter optimization. ADRC is designed to effectively combat external disturbances and internal system dynamics, with a focus on enhancing adjustment time and reducing overshoot for precise and safe refueling operations. Comparative analysis demonstrates that the ADRC outperforms traditional PID controllers in response time, overshoot, and noise suppression. The HMPPIO algorithm, leveraging the natural navigation abilities of pigeons and predatory strategies of marine animals, optimizes controller parameters, ensuring adaptability and robustness in complex and dynamic aerial environments. This research contributes to UAV technology by introducing a sophisticated control strategy that enhances control accuracy and disturbance resistance during UAV aerial refueling.