Quadcopters are frequently utilized in different industries considering their special characteristics. However, the control of quadcopters under-actuated systems, has specific challenges, including high-performance trajectory tracking and stability in the presence of disturbances and parametric uncertainties. This work investigates the development of Optimized Synergetic Control (SC) approach using Equilibrium Optimizer (EO) algorithm, this approach gives quick convergence and limits chattering problems. To further improve the robustness of the system in practical applications, the closed-loop stability of the quadcopter system is proved by using the Lyapunov function. Finally, several simulations under different situations in terms of external disturbances, parametric uncertainties, and mass variation are carried out to evaluate the efficiency of the SC technique proposed in this research. In addition, a comparative study is presented at the end of this work and effectively shows the outperformance of the proposed control.