This paper studies the vibration suppression and attitude control problems of UAV with non-homogeneous rigid-flexible coupling wings. Using Hamilton's principle, the heterogeneous rigid-flexible coupled wing is modeled as an infinite-dimensional distributed parameter system. Subsequently, based on the back-stepping method, a boundary control scheme is designed to control the vibration of the flexible wing and adjust the attitude of the rigid and flexible wings. Using a robust control strategy, the auxiliary input signal and disturbance adaptive law are constructed to offset the influence of external disturbance. The designed control scheme ensures that the closed-loop system is consistently bounded and stable. Finally, numerical simulation experiments proved the feasibility and control effect of boundary control.