Abstract Due to recent technological achievements, modeling and simulation of Unmanned Aerial Vehicles (UAVs) such as Quadrotor contracted great potential. In this paper, the Improved Double-Integral Sliding Mode Controller (IDI-SMC) scheme is presented to cope with the problem like chattering and tracking. Under-actuated six Degree Of Freedom (DOF) Quadrotor model is formulated through Newton-Euler-Lagrange (NEL) equations. The idea of design (IDI-SMC) is to implement Double Sliding Mode control with proper coeff…