Abstract:During unpowered reentry, the attitude of the aircraft is affected by aerodynamic and uncertain disturbances. The control model has strong coupling, large range parameter perturbation and other nonlinear characteristics. In this paper, the nonlinear attitude control model is divided into fast and slow loops based on the singular perturbation theory by combining extended state observer (ESO) and adaptive control law. The stability of the controller is proved by the Lyapunov stability theory. The simulation results show that the control system has strong robustness and good dynamic quality and tracking performance in the case of strong disturbances and large range of parameter perturbations.