الفهرس 
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Abstract
With the huge advancements in miniature sensors, actuators and processors depend- ing mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing type Unmanned Aerial Vehicle(UAV) known as the quadrotor. A nonlinear dynamic model of the quadrotor was formulated using the Newton-Euler method. The formulated model is including aerodynamic effects. Two control approaches were developed and simulated. The first approach is based on the linear Proportional- Integral- Derivative (PID) controller that was applied for altitude, attitude, and heading control. The second control approach is based on the state feedback with integral action control scheme that was applied for trajectory tracking control. NI- LabVIEW based simulation were conducted to evaluate and compare the performance of the two developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. Finally, the real time PID controller was implemented using NI-myRIO 1900 board to validated through various flight experiments on a real platform quadrotor.