Considering the poor effect of current quad-rotor maneuvering control methods, we proposed a maneuvering motion control model based on Nonlinear Programming Genetic Algorithm (NPGA) to optimize the change rate of control variables. Firstly, the nonlinear dynamic equation of the quad-rotor was established. Secondly, the optimal control model of the maneuvering action was designed, and the control model of the somersault action was established taking the somersault action as an example. Then, the NPGA algorithm was used to solve the model, and the change rate sequence of the optimal control variable was obtained. Finally, the obtained control instruction sequence was imported to the quad-rotor mathematic model for simulation. The experimental results show that, the quad-rotor can complete the expected somersault action according to the control instruction sequence, and the maneuvering control model is effective and reliable.