This paper presents an optimized cascade control strategy for bi-copter UAVs, composed of Fuzzy Logic, PID, and ADRC. To overcome the inherent challenges in the bi-copter UAV control such as high dynamical coupling and nonlinearity, this paper introduces a cascade control framework that employs the ADRC in the inner-loop, and a fusion of fuzzy logic and PID control in the outer-loop to improve the position control accuracy. A serious of numerical simulations are given to verify the validity of the proposed control strategy, as well as demonstrates the improvements in response speed, disturbance rejection, and overall system robustness.