This paper presents the application of two nonlinear control techniques—backstepping and sliding-mode control—to an autonomous micro quadrotor called OS4. The quadrotor is a VTOL (Vertical Takeoff and Landing) system with four rotors, which allows for vertical takeoff and landing, and is highly dynamic and underactuated. The control techniques are applied to achieve configuration stabilization and trajectory tracking. The paper describes the quadrotor dynamics, including the effects of gyroscopic and propulsion group rotations. The control laws are simulated and tested on a test-bench, and the results are discussed. The backstepping control approach is used to stabilize the quadrotor's orientation and position. The control law is designed using a Lyapunov function and involves virtual control inputs to ensure stability. The sliding-mode control approach is also applied, which uses a sliding surface to ensure system stability. The control laws are tested on both simulation and real systems, showing that the backstepping controller performs well in stabilizing the quadrotor's orientation, while the sliding-mode controller shows average results due to high-frequency vibrations. The paper concludes that the backstepping controller is more effective in controlling the quadrotor's orientation in the presence of disturbances. Future work includes developing a fully autonomous quadrotor with an enhanced backstepping controller.This paper presents the application of two nonlinear control techniques—backstepping and sliding-mode control—to an autonomous micro quadrotor called OS4. The quadrotor is a VTOL (Vertical Takeoff and Landing) system with four rotors, which allows for vertical takeoff and landing, and is highly dynamic and underactuated. The control techniques are applied to achieve configuration stabilization and trajectory tracking. The paper describes the quadrotor dynamics, including the effects of gyroscopic and propulsion group rotations. The control laws are simulated and tested on a test-bench, and the results are discussed. The backstepping control approach is used to stabilize the quadrotor's orientation and position. The control law is designed using a Lyapunov function and involves virtual control inputs to ensure stability. The sliding-mode control approach is also applied, which uses a sliding surface to ensure system stability. The control laws are tested on both simulation and real systems, showing that the backstepping controller performs well in stabilizing the quadrotor's orientation, while the sliding-mode controller shows average results due to high-frequency vibrations. The paper concludes that the backstepping controller is more effective in controlling the quadrotor's orientation in the presence of disturbances. Future work includes developing a fully autonomous quadrotor with an enhanced backstepping controller.