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The control of Unmanned Aerial Vehicles (UAVs) is a very challenging field of research especially for Vertical TakeOff and Landing (VTOL) vehicles or aircrafts for their numerous advantages over the traditional airplanes and due to the rapid advances that were made in this field with the development of light weight Micro-Electromechanical System (MEMS) sensors; it has become possible to build an autonomous model for a light weight quadrotor and to develop various controls for it. This paper focuses on the mathematical model of a quadrotor vehicle. A CAD model has been built for estimating mass and inertial properties of the physical model. Finally a PID controller for the proposed model is introduced then a Simulink model has been implemented for estimating the response of flight dynamics.

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