A linear parameter-varying （LPV） control scheme under the mode-dependent average dwell time （MDADT） switching signals is proposed. In the full flight envelope of the helicopter， the state vectors that can describe the flight characteristics of the helicopter are selected as the gain scheduling variable， and the “small disturbance” hypothesis is used to linearize the mathematic model. The Jacobian linearization is used to get the linear model， and the LPV model is established by data fitting. Combined with the parameter-dependent multi-Lyapunov function and the average dwell time method， the time-varying parameters are divided into intervals， and a sufficient condition to ensure the global uniform exponential stability of the switching LPV system is given. Considering the gradual change of time-varying parameters， the switching law in the limitation of the MDADT switching is obtained. On the other hand， the gain change of the controller caused by measurement error and parameter drift is also considered. Simulation results indicate the effectiveness and feasibility of the proposed model and the control method.