This paper addresses the nonlinear feedback control of Unmanned Aerial Vehicles (UAVs) with Vertical Take-Off and Landing (VTOL) capacities, such as multi-copters, ducted fans, helicopters, convertible UAVs, etc. First, dynamic models of these systems are recalled and discussed. Then, a nonlinear feedback control approach is presented. It applies to a large class of VTOL UAVs and aims at ensuring large stability domains and robustness with respect to unmodeled dynamics. This approach addresses most control objectives encountered in practice, for both remotely operated and fully autonomous flight.