The dynamic of tilt-rotor is highly nonlinear and coupled during the flight process, especially during transition maneuvers, since it has complex aerodynamic interference. The dynamic model of the tilt-rotor aircraft is obtained using the component-level modeling approach. The main component influenced by the aerodynamic interference is analyzed based on the proposed model. An adaptive compensation controller is designed via active disturbance rejection control (ADRC) to observe and compensate the aerodynamic interference in transition maneuver. The resulted controller can be applied without changing the conventional feedback-feedforward control architecture, since only the model uncertainty, mainly aerodynamic interference, is estimated and compensated by introducing the model information. The proposed method is applied for the 6-DOF dynamic model to execute the transition maneuver test mission. Simulation results on the pitch angular acceleration generated by the aerodynamic interference can be estimated and the tilt-rotor system confirm the robustness in the transition maneuver of the proposed compensation controller.