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This paper, proposed a hybrid strategy for nonlinear control of six degree of freedom (6 DOF) underactuated trirotor Unmanned Aerial Vehicle (UAV). The hybrid control strategy consists of Nonlinear Disturbance Observer (NDO) along with Proportional, Integral and Derivative (PID) controller to control the model of nonlinear (6 DOF) underactuated trirotor UAV. The control model of the UAV is divided in to two submodels, altitude control and the attitude control such that, the PD controller isdoi:10.14257/ijca.2016.9.12.38 fatcat:skwycaztibe5zifjfyefvz656y