The vehicle can maintain transition flight for long time cruising by adopting direct force control and has favorable maneuverability. However, for low-speed cruising, the transition is prolonged as a normal flight state. For the most current VTOL aircrafts, the transition from hover to forward flight is short and stable. A new concept of low-speed cruising is studied in this paper. The UAV can get rid of the restrictions imposed by takeoff and landing conditions and be accurately recovered by hover function the UAV owns a larger combat range and higher flight speed by forward flight capability. This research studies a novel fixed-wing VTOL UAV with thrust vector engines, which can be applied in urban areas. Among different flight conditions of UAVs, the 0–1000 m height area in cities is one of the most significant applications, where complex terrain and significant gusts arising from atmospheric turbulence exist. UAVs have increasing applications including surveillance, communications, search and rescue operations, and other military tasks. Simulation results indicate that the UAV can track the target trajectory accurately and exhibit continuous maneuverability in transition flight. This strategy can adjust the weight of the objective function according to the flight states and mission requirements, thus determining the optimizing direction and ensuring the rationality of the allocation results. For the weight selection in optimal control allocation, a dynamic weight strategy is proposed. Based on the INDI control law, a method of two-layer cascaded optimal control allocation is proposed to handle the redundant and coupled control variables. The incremental nonlinear dynamic inversion (INDI) approach is adopted for the 6-DOF nonlinear and nonaffine control of the UAV. The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV).