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The unmanned aerial vehicle (UAV) under investigation (Evader) has two rotors with the capability of independent lateral and longitudinal rotor tilting. The dynamic model of this vehicle is derived based on the Newton-Euler equations. The parametric uncertainties are considered in the model and an adaptive control law based on feedback linearization is proposed to overcome model uncertainties. The stability of the UAV's position and orientation are proved based on Lyaounov stability analysis. It is shown that the vehicle's errors in position, pitch, roll and yaw angles are all ultimately driven to zero under parametric uncertainties. Performance of the control strategy is investigated via extensive simulation tests.