Quadrotor UAVs have been widely used in various fields.Flight control algorithms are the control center of the UAV, which determine the flying state and achievable maneuvers of the UAVs.Scholars at home and abroad have made abundant accomplishments by their intensive study about the controllers of quadrotors.This paper systematically summarizes and evaluates the research findings of flight control algorithms in recent years, mainly introduces and briefly evaluates their fundamental design principles, points out the strengths and weaknesses of each algorithm and discusses their research prospects.The purpose is to provide some reference for the research in the area of flight control of quadrotors.