<p>A two-loop position controller is designed for a quadrotor. An adaptive fuzzy feedback linearization controller and a sliding mode controller (SMC) are designed for the inner-loop altitude and attitude subsystems and the outer-loop position subsystem, respectively. A feedback linearization controller (FLC) is used to remove chattering and achieve a good control input in the inner loop. Performance deterioration is inevitable because of the sensitivity of the FLC to parameter uncertainty including the mass of the quadrotor. To overcome the problem, the mass is estimated using adaptation laws derived from Lyapunov theory. Also, the fuzzy logic system is used to improve the convergence speed by tuning the adaptation gain. In this way, the new two-loop hybrid controller takes advantage of each control method including the smooth control signal produced by FLC and the robustness which is an inherent feature of the SMC. Subsequently, the stability of both subsystems is proved using the Lyapunov theory. The trajectory tracking is examined under step changes in the reference path and actuator fault. Also, circular path tracking under an uncertain load is studied. Finally, good control performance is verified.</p>