简介：Inthispaper,anonlineardynamicMIMOmodelofa6-DOFunderactuatedquadrotorrotorcraftisderivedbasedonNewton-Eulerformalism.Thederivationcomprisesdeterminingequationsofmotionofthequadrotorinthreedimensionsandseekingtoapproximatetheactuationforcesthroughmodelingoftheaerodynamiccoefficientsandelectricmotordynamics.Thederivedmodelisdynamicallyunstable,soasequentialnonlinearcontrolstrategyisimplementedforthequadrotor.Thecontrolstrategyincludesexactfeedbacklinearizationtechnique,usingthegeometricmethodsofnonlinearcontrol.Theperformanceofthenonlinearcontrolalgorithmisevaluatedusingsimulationandtheresultsshowtheeffectivenessoftheproposedcontrolstrategyforthequadrotorrotorcraftnearquasi-stationaryflight.