This chapter deals with the modeling and control of different configurations of the unmanned aerial vehicles (UAVs). It presents the general model of the aircraft represented as a rigid body. The equations representing the position, the kinematics, the forces, and the moments are explained. Attitude stabilization of the VTOL in hover flight is presented. Kinematic and moment equations will be used to obtain three decoupled attitude systems for the pitch, roll, and yaw angular position. The chapter presents a new tilt-rotor aircraft (quad-plane UAV) that is capable of flying in horizontal and vertical modes. The chapter deals with the Hybrid or Convertible miniature (mini and micro) UAVs (MAVs), combining the advantages of horizontal and vertical flight. Different approaches for nonlinear control are presented using the Lyapunov theory. For energy-saving purposes during forward flight (airplane mode), it is proposed that the vehicles can lead their orientation toward wind velocity vector.