In order to solve the trajectory tracking control problem of the quadrotor aircrafts, an Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC) was designed to achieve the trajectory tracking control.Firstly, the mathematical model of quadrotor aircraft was developed by Newton-Euler method, and then the trajectory tracking task was implemented by introducing the contraction theorem to the IDA-PBC controller.Finally, the effectiveness, tracking performance and robustness of the proposed IDA-PBC controller were validated by computer simulations.The results showed that: 1) The IDA-PBC can complete the tracking control task of the quadrotor aircraft effectively;and 2) Compared with the PID controller, the IDA-PBC has the advantages of quicker convergence speed, lower tracking error and stronger robustness.With the IDA-PBC, the system has great steady-state performance and dynamic performance, which can meet the trajectory tracking control requirements of quadrotor aircrafts.