The invention discloses an unmanned aerial vehicle modal conversion nonlinear control method, equipment and a medium, and belongs to the field of unmanned aerial vehicle control. The method comprises the following steps: establishing an uncertainty parameter model with a convex polyhedron; designing a nonlinear robust state feedback H-infinity controller; converting a control design problem into a quadratic sum convex optimization problem; solving a controller, and building a simulation platform; according to the method, parameter perturbation is firstly limited in a convex polyhedron set, namely, the parameter perturbation is expressed as convex polyhedron uncertainty, and a novel nonlinear robust H-infinity control method based on the quadratic sum is correspondingly designed; according to the method, modal conversion control of the tilt-rotor unmanned aerial vehicle can be well realized, and the method has relatively high robustness on external disturbance and parameter perturbation; according to the method, the dynamic characteristics of the tilt-rotor unmanned aerial vehicle in the mode conversion stage are described by adopting the convex polyhedron uncertain nonlinear variable parameter model, the nonlinearity, time variation and uncertainty of the tilt-rotor unmanned aerial vehicle can be described more accurately, and the reliability and action range of the overall control design are improved.