Modeling and hovering control of a tilt-rotor UAV with tri-rotor configuration were studied. A 6-DOF nonlinear dynamic model of this tri-tilt-rotor UAV was established with Newton-Euler method, which was then simplified. On such basis, altitude and attitude controllers in hovering mode were designed respectively. The altitude controller was designed with PID control based on feedback linearization, and the attitude controller was composed of Backstepping-based PID controllers. Finally, the designed controllers were used for simulation experiment, and the experimental results show that the designed controllers can meet the system’s requirements for performance control.%针对一种三旋翼构型倾转旋翼无人机的建模和悬停控制问题进行研究，采用牛顿欧拉法建立了这种三旋翼构型倾转旋翼无人机的六自由度非线性动力学模型，并对模型进行简化。在此基础上，分别设计了悬停模式下的高度控制器和姿态控制器。高度控制器是在反馈线性化的基础上采用PID控制设计而成，姿态控制器由基于Backstepping的PID控制器构成。最后，对所设计的控制器进行仿真实验，实验结果表明：所设计的控制器能满足系统的控制性能要求。
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