This thesis explores the modeling, control, and simulation of an overactuated quadrotor UAV designed to address the limitations of conventional underactuated systems. The goal is effective control of all 6-DoF through the introduction of additional actuators for tilt and twist functions, enabling novel capabilities such as in-flight frame rotation and landing on inclined surfaces. The work includes the development of dynamic and kinematic models using Newton-Euler formulations, implementation of adaptive control allocation strategies, and comparative simulation studies of various control approaches, including cascaded PID controllers. The results demonstrate the potential for achieving stable single-point rotations, highlighting the promise of overactuated UAVs for advanced applications such as aerial manipulation and structural inspection.