Considering that the sample fly-wing UAV has the characteristics of unstable course and multiple actuators, we established the converse model of the UAV based on neural network, which could transform the controller outputs into actuator offsets.Then, we analyzed the principle of snake maneuver from the aspects of rolling and yaw angles, and designed a snake maneuver control law based on Robust Servomechanism Linear Quadratic Regulator (RSLQR) control and Proportional Integral (PI) control, which could ensure the rapid response of roll and track angles while getting rid of the sideslip angle rapidly.Simulation results shows that RSLQR-plus-PI control can resist the disturbance, maintain the properties of the controller, and guarantee the robustness and stability of fly-wing UAV more effectively.