The compound tilt-rotor unmanned aerial vehicle (UAV) combines the advantages of both fixed-wing and rotorcraft, and is currently widely used. However, its over-actuated characteristics pose challenges for the design of control allocation systems and stable operation under actuator failure conditions. This paper proposes a multimodal optimization control allocation and fault-tolerant control strategy. First, based on the dynamic characteristics of tilt-rotor aircraft, kinematic and dynamic models are established. By utilizing angular acceleration feedback to compensate for unmodeled dynamic parts, a compound incremental nonlinear dynamic inversion control law is designed. Secondly, the distribution method of virtual control quantities and actual control inputs is studied. A multi-objective comprehensive optimization function is designed based on requirements such as stability and energy consumption and solved using a small-dimensional strictly convex quadratic programming method. Then, based on the control al