Have you ever seen something online and thought, "Damn, that was awesome"? Well that was me when I saw this idea on a Reddit post somewhere, and I knew immediately I wanted to build it. This is a single electric ducted fan with batteries strapped to it and, underneath it, is an exhaust port that has 4 individual vanes that can deflect in various angles, sort of like a thrust vector control missile. The idea is that these vanes will be able to both counteract the reactive torque coming from the motor and steer the drone wherever you wish, just like a quadcopter. I started by deriving the 6DOF dynamics of the monocopter on pen and paper using estimations like thin airfoil theory and various interpolations found from specifications online. Once I was confident I had a relatively accurate model, I plugged in these equations to start simulating the monocopter on Simulink. After many hours of troubleshooting, I had a primitive simulation running where I could input constant values of motor RPM and vane deflections, and it worked quite well. I then moved on to building up a more robust simulation environment using Simscape Multibody, which allowed me to make a ground plane and more accurately model the properties of the shape of the vehicle. Once the more robust simulation was built, I built PID controllers around the simulation to and derived motor mixing algorithms to control altitude, pitch and roll angle, and yaw angular velocity.