In the geological drilling process, the movement of drilling tools has the characteristic of nonlinear. Therefore, it is difficult to control the attitude of drilling tools effectively. In this research, a bilinear compensation control strategy based on directional drilling tools is proposed, and the precise control of the non-linear motion is achieved. Through the analysis of the motion characteristic of directional tools, the model of directional drilling motion is established. The motion model has partial linearity and coupling characteristics. To transform the drilling motion model, Taylor expansion method and bilinear approximation transformation technology are applied. To extend the local linear control range and optimize the linear control effect, the compensation control method in the process industry is used. The simulation results show that the control strategy proposed in this research has better stability. It can simplify the control process of the directional drilling tools, and improve the accuracy of directional drilling tools control.