To address rescue challenges caused by material shortages, traffic disruptions, and complex terrain in disaster zones, this study proposes a tethered turbojet UAV rescue system based on an improved active disturbance rejection control (ADRC) method. The UAV employs a tethered power supply to sustain engine operation, enabling precise nozzle deflection and thrust control for enhanced endurance, stability, and payload capacity. A nonlinear dynamic model is established, and an enhanced ADRC is designed by optimising the extended state observer (ESO) with a klnfal function, with its convergence proven via Lyapunov stability theory. Simulations show that under strong disturbances, the improved ADRC reduces attitude control mean square error by 75.81% compared to PID and conventional ADRC, significantly improving robustness for precise material delivery.