<p>As the demand for unmanned aircraft increases, various types of research are performed in broad research fields. Realization of autonomous tactical maneuvers is also one of the research fields. Despite the many research studies performed, however, research considering the complex flight dynamics is rarely found in the existing research. Therefore, current research has tried to overcome those limits. In this research, the three-stage framework is introduced based on the literature survey: maneuver decision, maneuver planning, and maneuver control. In this research, maneuver planning, and maneuver control are mainly focused on realizing autonomous tactical maneuvers. For maneuver planning, a nonlinear optimal control problem is formulated and a direct dynamic simulation approach is applied to generate the reference trajectory while considering the flight performance, and backstepping control laws are designed to realize the actual maneuvers. As specific maneuvers like Split-S contain the flight conditions that lead to the gimbal-lock problem, a finite rotation angle is also introduced to overcome those limits for both trajectory optimization and control. To validate the proposed framework, some tactical maneuvers such as Falcon Turn and Split-S are selected and analysis performed. From the results, tactical maneuvers for selected maneuvers are successfully realized. The possible design combinations for the framework using finite rotation angle and Euler angle are also compared and some considerations for unmanned aircraft’s tactical maneuvers are suggested based on the results.</p>