This paper presents an object-unified control design, which is based on the Model-Driven Architecture (MDA) approach combined with the real-time Unified Modeling Language/Systems Modeling Language UML/SysML, in order to conveniently analyze, design and implement controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAV). The paper shows out stepwise the adapted Q-UAV dynamics and control structure that are then combined with the specialization of MDA features as follows: the Computation Independent Model (CIM) is defined by the specification of use-case model to capture the requirements analysis of control; the Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML’s features combined with the timing concurrency of evolution that depicts in detail structures and behaviors of controllers; the detailed PIM is subsequently converted into the Platform Specific Model (PSM) by using open-source platforms to quickly simulate and realize the Q-UAV controller. Based on this design model, a trajectory-tracking controller was deployed and tested that permits a Q-UAV to reach and follow the desired reference trajectory.