Tilt-rotor UAV is a new type of variable structure aircraft. This paper designs an \(H_{\infty }\) bumpless switching controller for TUAV to address the tracking control issue. The core work of this paper can be summarized into three aspects. Firstly, considering the variable structure characteristics of TUAV, the transition mode control problem is solved by AED-ADT method. It is combined with \(H_{\infty }\) control to deal with external disturbance and improve the system robustness. Secondly, the bumpless switching control is combined with AED-ADT to reduce the control signal jump and further improve the transient performance of TUAV flight control. The controller ensures compliance with bumpless switching constraints and the system meets the specified disturbance suppression level. Finally, the effectiveness of the above method is substantiated through simulation validation.