This paper presents a dynamic modeling of a quadrotor flying wing airship. This airship is a scale model of airships dedicated for freight transport. It is equipped with steerable thrusters that made over-actuated. A control strategy based on the linearization of the local equation and the use of backstepping control is applied to this model. We made a focus on the relations between the control vectors obtained from the control strategy and the response of the airship actuators.
Numerical results show the benefits of the proposed algorithm.