The traditional quadrotor UAV uses dual quaternion description method to realize the integrated modeling of position and attitude. However, dual quaternions need to satisfy normalization constraints and have parameter redundancy. Addressing the aforementioned issues, this paper proposes an integrated position and attitude modeling method based on twistor, which utilizes only six parameters to describe position and attitude movements, avoiding normalization constraints and parameter redundancy. To enhance the robustness and control performance of the quadrotor UAV, an integrated position and attitude controller within the twistor framework is proposed based on sliding mode theory. The stability of proposed system is proven by using Lyapunov theory and the LaSalle invariant set principle. Finally, the accuracy of twistor-based position and attitude integrated modeling is verified through simulation, and the effectiveness and robustness of the sliding mode controller within the twistor framework is demonstrated.