In this paper, modeling and feedback linearization controller for trajectory tracking of a novel six-rotor UAV (Unmanned Aerial Vehicle) is developed. Because of the very simple structure and high maneuverability, quadrotors are one of the most preferred types of UAVs but the main problem of them is their small payload. In the proposed novel model, two coaxial propellers are added to the center of vehicle to improve the ability of lifting heavier payloads, and to excel anti-crosswind capability of quadrotor, while the dynamic and steering principle is preserved. The dynamic model is obtained via Newton Euler approach. Model is under actuated, nonlinear, and has strongly coupled terms. Also, two types of nonlinear controllers are presented. First one is a conventional input-output feedback linearization controller which involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. Second controller is a feedback linearization based on the hierarchical control strategy that yields easier controller. To compensate actuator’s dynamic and moreover, to avoid complexity of controller, a two-stage algorithm is utilized. The obtained simulation results confirm that the performance of hierarchical controller is more convenient in terms of position tracking and disturbance rejection than conventional controller.