<p>Controlling the flight with three rotors is an ever-changing and complex operation that necessitates a robust architecture from both a configuration and control standpoint. The modeling and simulation of a tricopter with a fixed-wing aircraft for the design of Vertical Take-off and Landing (VTOL) with this configuration have been presented in this study. In this work, a flight dynamic model for the tricopter is developed and integrated into the typical fixed-wing flight dynamic model. The forward and backward transitions are performed by tilting the tricopter’s rotor. During transition, smooth switching from the tricopter to fully fixed-wing dynamic mode is carried out based on several flight parameters, such as stall speed, altitude, and tilting rate. A small, unmanned surveillance aircraft is considered to demonstrate the proposed approach, with example aircraft design and aerodynamic model built using a typical fixed-wing aircraft design approach. For the VTOL phase, proportional-integral-derivative (PID) control is used, whereas incremental nonlinear dynamic inversion is applied for the forward phase. The INDI approach enhances disturbance rejection and reduces reliance on accurate modeling. This ensures greater reliability during VTOL transitions. The framework is well-suited for real-world missions where endurance and lightweight design are essential. The simulation is repeated under varying wind conditions. Results show the VTOL model can vertically take off and land, and smoothly transition forward and backward without significant overshoot.</p>