An intelligent control algorithm based on adaptive sliding mode control and adaptive neural network for motion control of a quadcopter is presented in this paper. Full six degrees-of-freedom (6-DoF) model of a quadrotor with unknown parameters has been considered for this purpose. The ability of the presented control algorithm to work satisfactorily even in the absence of a-priori information of model parameters is its salient feature. Effectiveness of this algorithm in tracking nominal paths is illustrated by simulation results. © 2019 IEEE.