Nowadays, unmanned aerial vehicles (UAV) are widely used in view of their applications and capabilities. Quadrotor UAV is a kind of rotary-wing vehicle with a flight mechanism that contains four motors and propellers installed in four corners of the main frame. Since the attack angles of the propellers do not change, the lift force changes solely with the change of the rotors rotation speeds. Moreover, rotation direction of any rotor is fixed and is perpendicular to the main frame. In order to neutralize aerodynamic torques, and to decrease gyroscopic effects, the rotation direction of two rotors is in the opposite direction of the other two rotors. In this research activity, after analysis of dynamic equations, the controller and motion trajectory algorithm are designed. From control viewpoint, the overall objective is to control linear velocities of the aircraft, as well as its yaw angle. The dynamic of the system is in a form that its roll and pitch angles are determined depending on the variation rate of the linear velocities. As a result, the control mechanism considered for this vehicle is a two-loop controller. In the outer loop, we have utilized an integrator-proportional controller, while a fuzzy parallel distributed compensation (PDC) controller and a sliding mode controller are designed for the inner loop. In PDC controller, a nonlinear fuzzy model of the system is presented by expressing the nonlinear dynamic equations of the rotation of the system as a fuzzy combination of linear equations. Subsequently, by designing the controller for each linear subsystem, the overall nonlinear controller is computed as a fuzzy combination of the linear controllers. In designing the sliding mode controller, by definition of separate sliding surfaces for each rotational angle of the system, the control law is designed in a way that the system state from an arbitrary initial condition converges to these surfaces. Then, the system state tends to its desired value while remaining on the sliding surface. The designed controllers are verified and also compared to each other by simulation of the flight under some benchmark paths. Moreover, the robustness of the designed controllers against existence of uncertainty and disturbance are evaluated by considering uncertainty over mass and inertial momentum matrix of the aircraft, as well as by applying disturbance force and torque to the system. After designing the controller, a path planning algorithm is proposed, where assuming that the kinematics specifications of the starting and destination points are determined, the path is generated with the aim to minimize the time, while meeting the physical constraints of the vehicle. The motion equations are considered as polynomial functions of time, in a way to satisfy boundary conditions (i.e., position, velocity, acceleration, and jerk) of starting and destination points of the trajectory. The coefficients of the polynomials are then calculated for moving in minimum time. Keywords : Quadrotor, Unmanned Aerial Vehicles, Fuzzy PDC Controller, Sliding Mode Controller, Path Design