Abstract: To achieve the effective control of unmanned aerial vehicles (UAVs), we present a nonlinear controller based on the double loops for the quadrotor UAV in which the kinetic parameters are uncertain or the model is unknown. In the inner loop, we utilize a sliding mode controller based on Takagi-Sugeno (T-S) fuzzy control to achieve rotational stability. To perform effective trajectory tracking, in the outer loop, we utilize a proportional-integral-derivative (PID) controller to generate reference angles. Numerical simulation results confirm that the proposed controller can facilitate rapid convergence of the UAV's trajectory and attitude angles with small errors.