This paper presents the modelling and control of a ducted fan UAV platform powered by three ducted fans. The primary aim is to develop a highly reliable navigation platform with spacious payload bay. The chosen configuration also provides forward flight with minimum pitch variation. A complete non-linear dynamic model is developed. Taking advantage of the redundancy of the control inputs, a novel control scheme is designed to control the position and attitude based on the structured H∞ synthesis. A way-point navigation level is utilised to carry out “turn-and-cruise” flight in order to follow the given way-points. The performance of the overall control law tested with the nonlinear vehicle model is presented to show the operational capabilities of the vehicle.