关键词: 混合系统，小型无人直升机，自由度，混合逻辑动态模型，混合整数二次规划

Abstract: To solve the optimization control problem of aerial robotics (small unmanned helicopter) nonlinear system with six degree of freedom(DOF) , this paper proposed a method that models and lower-orders based on hybrid systems,obtains the maximal controlled invariant sets by states constraint, then solves the optimization problem by mixed integer quadratic programming in the sets. Finally, a model is modeled and simulated, the result proves the validity and efficiency.

Key words: Hybrid systems, Small unmanned helicopter, Degree of freedom(DOF) , Mix-logic dynamic model, Mixed-integer quadratic programming