The best starting point is the detailed account by Hamkins here which will hopefully be published in a more formal venue eventually.
Two approaches that are not discussed there in detail are Hrbacek's _relative set theory_ , as well as the $\alpha$-theory of Di Nasso and collaborators.
Also, the new edition of _Nonstandard analysis for the working mathematician_ by Loeb and Wolff seems promising; see here. However I haven't been able to get my hands on a copy yet.
Such an article is online here, soon to appear in _Real Analysis Exchange_.