An adaptive backstepping controller based on nonlinear disturbance observer was designed to solve the problem of parameters uncertainty in elastomer model of hypersonic vehicles.The curve-fitted model was expressed as strict feedback form and the method of backstepping was used to design the controller.Dynamic surface method was introduced to obtain the derivatives of virtual control amount,which avoided the explosion of differentiation terms in the traditional backstepping control.In order to enhance the controller’s robustness,a new nonlinear disturbance observer which was based on second order tracking-differentiator was introduced to estimate and compensate the model uncertainties adaptively.Simulation results demonstrate that the controller has high robustness to the model uncertainties and aerodynamics and it can track the reference instructions of velocity and altitude steadily.%针对高超声速飞行器参数不确定弹性体模型，提出了一种基于非线性干扰观测器的自适应反演控制器设计方法。将曲线拟合模型表示为严格反馈形式，采用反演方法设计控制器。采用动态面方法获取虚拟控制量的导数，避免了传统反演控制“微分项膨胀”问题。为了增强控制器的鲁棒性，基于二阶跟踪－微分器设计了一种新型非线性干扰观测器，以此对模型不确定项进行自适应估计和补偿。仿真结果表明，控制器对模型不确定性和气动弹性影响具有强鲁棒性，且能实现对速度和高度参考指令的稳定跟踪。
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