The present study addresses the issues concerning the developpment of a reliable assisted remote control for a four-rotor miniature aerial robot (knownas quadrotor), guarante eingthe capability of a stable autonomous flight. The following results are proposed: after establishing a dynamical flight model as well as models for the rotors, gears and motorsof the quadrotor, different nonlinear control laws are investigated for attitude and position control of the UAV. The stability and performance of feedback, backstepping andsliding mode controllers are compared in simulations. Finally, experiments on a newly implemented quadrotor prototype have been conducted in order to validate the theoretical analysis.