Ultimately, the "best" control scheme is the one that your drivers are most comfortable with. A few things to keep in mind though:
- The thumbsticks on Xbox controllers never center properly. This is easy to fix with a ~20% deadband, but that means that fine movements won't behave quite right
- Point 1 can be remedied to some extent by using a different gamepad like the Logitech F310 which has better quality sensors in the thumbsticks
- A full joystick is likely to give you the best accuracy and the ability to control all 3 axes of movement at once (you need a joystick with a z-axis though, the Attack3's do not)