Paper Title
Stabilizing UAV Heliplane: A Genetic Algorithm and Nonlinear Control Method

Abstract
This paper introduces a new type of quadcopter UAV called the Heliplane. We developed a detailed model that considers the various forces acting on it. Because the Heliplane can both take off and land vertically like a helicopter and fly horizontally like an airplane, it presents a unique control challenge. To address this, we implemented a control technique called Backstepping. This technique ensures the Heliplane remains stable (Lyapunov stability) and accurately follows its intended path. Keywords - UAV, Dynamic model, Heliplane, Backstepping, simulation, VTOL.