© 2016 ISA In this paper, a new control scheme for motion control of quadrotors is presented. The proposed model based controller makes use of simple estimations of vehicle parameters. Besides, the controller is developed under properties of the vehicle model. A rigorous analysis is developed to prove that the closed-loop system trajectories are uniformly ultimately bounded. The validity of the proposed control scheme is tested by numerical simulations and experimental results. This validation shows that the proposed controller guarantees that the quadrotor performs tracking of a desired pose (position and orientation) trajectory with good accuracy. The new scheme has been compared with respect to other robust controllers. The results indicate better tracking accuracy for the new scheme.