sponsored by The National High-tech Research and Development Program(Project No.2007AA041503 and 2007AA404260);the Research Program of Shanghai Science and Technology Committee (Project No.07dz05813);State Leading Academic Discipline,Shanghai Leading Aca-demic Discipline
Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable...