In wireless power transfer system, not only the mutual inductance variation but also the self-inductance variation can be occurred under the misalignment condition. In light of the Unmanned Aerial Vehicles, the variation of the secondary self-inductance and mutual inductance are significantly under the misalignment condition. In order to stabilize the output voltage and current and achieve near-ZPA (near-zero phase angle) of the input impedance. A variable inductor control is presented in this paper, which regulate the inductance of the secondary side by adjusting the dc bias current under large <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">k</i> variation. The proposed control method does not need any auxiliary circuit, and constant current-constant voltage (CC-CV) charging can be achieved by controlling the duty cycle of the boost converter. To verify the proposed control method, a 500-W prototype was set up in the laboratory, and the variable inductor control method ensures a stable output voltage and current with horizontal and vertical offsets of 200 mm and 92 mm, respectively. Additionally, communication is not need between primary and secondary side, and the results show that the maximum efficiency is 92.9%, which is 2.3% higher than the conventional dc-dc regulation method.