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A fuzzy sliding mode controller is designed in order to solve the interference problem of changes in model parameters of tail-sitter UAV during the transition from vertical flight to horizontal flight. To avoid the chattering of the system, fuzzy rules are utilized for self-tuning the approach law. The simulation and experimentation results reveal that the controller not only has good tracking quality and robustness against the disturbance of changes in model parameters during the transition flight of the UAV, but also reduces the chattering of controllers' output and the burden on the aileron executing agency.