Abstract: Dealing with the deficiency of single point inversion model in traditional helicopter adaptive model inversion attitude control, a slow switching control method based on the multiple points inversion models group was proposed and the asymptotic stability condition was given. In the method, multiple points inversion models group was constructed to replace single point inversion model. Attitude error control system could be transformed into linear switched system, and attitude adaptive control could be achieved via the slow switching using dwelling time. Simulation results show superiorities of proposed method. Work burden of the adaptive element in the control method can be greatly alleviated and controller robustness could be promoted. The flight control system designed based the proposed method can maintain stable well during the switching processes, and also has strong performance robustness.