In view of the designing method for C2 structure and action plan in manned/unmanned aerial vehicle (MAV/UAV) cooperative engagement system based on the granular computation theory, a hierarchical adaptive design method is proposed. The plan is classified into four smaller subproblems, i.e., platform marshalling scheme generation, task schedule scheme generation, platform marshalling scheme adjustment, and task schedule scheme adjustment, reducing the problem solving scale by so doing. Firstly, an adaptive design framework is established, and a formalized description to key element attributes is given. Secondly, the coupling relationship of subproblems is analyzed in detail, and lastly, the corresponding adaptive design methods for four subproblems are presented.