One platform commonly used in modern control systems research is the quadcopter unmanned aerial vehicle (UAV). This platform finds many uses in both civilian and military aviation, such as aerial surveillance and imaging, search and rescue operations, and remote sensing. To perform these tasks, it is increasingly common to rely on autonomous UAVs to allow the vehicle to perform desired tasks without an operator. One weakness of the quadcopter UAV is its underactuation, since this vehicle has six degrees of freedom and only four control inputs. To overcome this complexity, it is proposed to actuate the vehicle propellers, creating a tiltrotor vehicle, in this thesis of the H-configuration. To this end, the equations of motion of the vehicle will be established, and an original robust model reference adaptive control law will be formulated to control the vehicle in the presence of disturbances. Another current goal in UAV research is in providing a method for the vehicle to manipulate its environment. In this thesis, a two-link robotic manipulator mounted on a cylindrical hinge will be used. This manipulator will have its own trajectory generation and control formulation for its end-effector, after which it will be mounted to the H-configuration tiltrotor. This combined aerial manipulator will be numerically simulated with the manipulator and tiltrotor control laws running simultaneously, demonstrating the feasibility of the combined system.