针对传统直升机自适应模型逆姿态控制方法中单点逆模型的不足,提出基于多点逆模型组的慢切换控制方法.该方法构造多点逆模型组取代单点逆模型,将直升机姿态误差控制系统转化为切换系统;引入驻留时间的概念,构造慢切换逻辑,从理论上给出了系统的稳定条件.与传统方法进行了对比仿真,结果表明:该方法有效地减轻了自适应元件的补偿负担,显著提高了其控制性能;系统在切换过程中保持稳定,并具有较强的性能鲁棒性. Aiming at the deficiency of the single-point inverse model in the inverse attitude control method of the traditional helicopter adaptive model, a slowly switching control method based on the multi-point inverse model group is proposed. This method constructs a multi-point inverse model group to replace the single-point inverse model and the helicopter attitude error control The system is transformed into a switching system, the concept of dwell time is introduced and the logic of slow switching is constructed, and the stability condition of the system is given theoretically.Compared with the traditional methods, the simulation results show that this method can effectively reduce the adaptive components Compensation burden, significantly improve its control performance; system in the switching process to maintain stability, and has strong performance robustness.