For helicopter with large suspension load, the coupling between body and load will significantly affect the maneuverability and stability of the helicopter. The pilot’s handling makes suspension swing, which lead to the residual oscillation of the helicopter, improper hanging by pilot can easily induce PIO phenomenon. In this paper, it is mainly studied that lateral stability control of heavy helicopter suspension flight, the model is simplifying by using some assumption, and a control method oriented to engineering application is proposed: combining model-following control with adaptive control and input-shaping. The result shows that the method not only ensures good maneuverability, but also solve the problem of the residual oscillation of the helicopter.