A comprehensive aerodynamic/flight-control problem was studied on a high-cost hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) in the accelerative stage from hovering to cruising. A computational model of the rotor under oblique inflow was established based on the blade-element momentum theory (BEMT)

and its accuracy was verified by comparison with the CFD calculation model. It was analyzed that the rotor system caused the aerodynamic focus of the aircraft to move forward

resulting in static instability effect

and its center should be placed after the center of gravity of the aircraft. By analyzing acceleration features and the control input margin under different acceleration strategies

the fixed -5 degree pitch angle and fixed throttle acceleration strategy were determined. Considering the control input redundancy and the different response of the actuator

the allocation criterion of frequency domain was adopted to realize static allocation. Considering the modeling error

the L1 adaptive attitude control framework was designed to achieve dynamic control stabilization

and the deflection simulation was used to verify its robustness. Flight test verified the effectiveness of the modeling method

acceleration strategy

and control law framework.