الفهرس 
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Abstract
Quadrotor Unmanned Aerial Vehicles (UAVs) are commonly used for complex tasks such as. surveillance. search and rescue in hazard locations for its small size, lightness and robustness. However, the stability of DAVs represents a big challenge due to its Nonlinearity, multivariable, strongly
coupled nature. This work aims to design, modelling, control of quadrotor, therefore, a mathematical model for simulation, and control was introduced.
Based on the mathematical model, linear and non linear control techniques are
used to design and simulate various controllers along this work. The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, in which the stability of DA Vs studied. A testing facility system was developed where the quadrotor was fixed to the test system using ball and socket connection to allow the free movement of the quad rotor in the three main angles that affect its stability. This testing system was used to validate and test the developed controller experimentally.
The present work investigates two commonly used control strategies
namely, PD-control with low pass filter and Nonlinear feedback linearization
control. The parameters of each controiler are optimized to set the time-domain performance within specific constrains. The performances of the two
control strategies are simulated and the results are validated on real
experiments.