This work presents modelling and control of autonomous tilt augmented aerial rotary vehicle (astaire). conventional rotary wing unmanned aerial vehicles (uavs) with the capability to take-off and land vertically suffer from the problem of under actuation. the problem of having strictly fewer control inputs as compared to degrees of freedom of the system induces control design challenges. this work attempts to increase the number inputs such that the system is fully actuated and hence control design for each output degree of freedom is decoupled and independently designed. this is achieved by tilting the tip-path plane of each rotor about a body fixed axis. mathematical modelling of the tilt augmented quadrotor helicopter is presented which reveals the challenge of control allocation for the actuators available. a pd-type quaternion based attitude controller is developed to ensure stabilisation without suffering singularities. a linear pid controller is proposed for position tracking. numerical simulations as well as experimental results are presented to validate the proposed vehicle and control design.