A robust switching control scheme with a multi-loop anti-saturation control structure is proposed in the presence of actuator saturation for hypersonic flight vehicles. Firstly, aiming at the obvious isolation characteristics of the movement state in frequency, the circuit design method is applied to the state variables of the hypersonic ve-hicle, and the reference switching systems are established to describe state variables that are seriously affected by actuator saturation, thus cutting down the design complexity of switched system and the controller parameters. Then, the events that potentially induce actuator saturation are regarded as switching signals, and then we choose the reference switching model and robust controllers, which make the system outputs track the reference model's outputs very well and ensure control input can not reach saturation state. Moreover, a detailed stability analysis is performed for such a control scheme with multiple Lyapunov functions method and linear matrix inequation ( LMI) . Simulation and comparison demonstrate the effectiveness of the switching control scheme. Under the actuator failure and disturbances conditions, the system state may well track the reference state and the amplitude of control input is less than the actuator limit.%针对执行机构饱和的高超声速飞行器姿态控制器设计问题，提出一种多回路抗饱和鲁棒切换控制方案。首先针对运动模态在频率上表现出显著的分离特性，将高超声速飞行器的状态变量分回路设计，对受执行机构饱和影响明显的状态设计参考切换系统，从而降低切换系统和控制器参数设计的复杂性；然后将导致执行机构饱和的事件视作切换信号，选定参考切换模型及鲁棒控制器，使得系统输出能够鲁棒地跟踪参考模型的输出，并保证控制输入不达到饱和状态；最后通过多Lyapunov函数和线性矩阵不等式分析了控制器的稳定性。仿真对比结果表明控制方案的有效性，在存在执行机构失效故障和干扰的情况下，系统状态可良好地跟踪参考状态且输入小于执行机构限幅。
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