## 1 Introduction  
Due to the ability to effectively avoid interception and interference sources, the high maneuvering flight technology of hypersonic flight vehicles (HFVs) is becoming the core technology of missiles [1; 2; 3]. However, extreme rotation at speeds above Mach 5 also brings challenges to the controller [4; 5]. The main control problems include: modeling errors or unmodeled dynamics caused by strong nonlinearity, deformation and uncertain parameters caused by high maneuvering and sudden airflow, and creep caused by high-speed frictional heating, resulting in elastic modal disturbance [6; 7; 8]. Due to real-time requirements, HFV cannot rely on time-consuming observers, but it must ensure the pertinence and accuracy of compensation. Therefore, a hybrid scheme combining passive direct compensation and observer-based active compensation is designed in this paper to achieve the above-mentioned simultaneous automatic repair control objectives of uncertainty and disturbance and to ensure the stable flight of high- maneuvering HFVs. The original model of HFV is nonlinear, and the nonlinear control technology based on this has developed rapidly in recent years [9; 10]. In [9], considering parameter uncertainties and nonlinear unmodeled dynamics, a full state tracking error system is built, and the fuzzy logical system is utilized to identify the nonlinear system. In [10], for the update of the neural weights in HFV, the composite learning is constructed using the nonlinear prediction error. In [11], a fuzzy adaptive design was proposed to solve the finite-time constrained tracking for HFV, and actuator dynamics and asymmetric nonlinear constraints are considered. In [12], the nonlinear equations of the model are linearized by fuzzy logic, the external nonlinear disturbance is approximated by radial basis functions, which transforms the classical HFV into a linear system. The common problem of the above schemes is that the algorithms are too complex to meet the rapid response requirements of HFV in war. This paper proposes to use the nonlinear dynamic inverse (NDI) to directly and quickly shield the nonlinear modeling error. Due to the widespread parameter uncertainty in HFV, there has also been a small amount of research progress in related compensation control strategies in recent years [13; 14; 15]. In [16], a parameterized tracking error model of the HFV is derived with some considered uncertainties, which are approximated by an interval type-2 fuzzy neural network. In [17], by introducing some smooth functions and a linear time-varying model and estimating the bounds of those time-varying uncertainties, the impact of the faults is effectively compensated for, and stable altitude and velocity tracking is successfully achieved. In [18], a high-performance adaptive controller for the uncertain model of HFVs is proceeded by faulty and hysteretic actuators. In [19], the authors address the finite-time attitude formation-containment control problem for networked uncertain rigid spacecraft under directed topology. In [20], adaptive fixed-time attitude stabilization is studied for uncertain rigid spacecraft with inertia uncertainties, external disturbances, actuator saturations, and faults. However, the above-mentioned methods rarely consider modeling errors and cannot deal with complex disturbances, simultaneously. In this study, disturbance, modeling error, and uncertain parameters will be considered simultaneously to design the controller. More advanced interference suppression technology enables HFV to precisely strike targets during high maneuvering, sea-skimming flight, and electromagnetic countermeasures [21; 22; 23; 24]. In [25], an active disturbance rejection control scheme is proposed for the electromagnetic docking of spacecraft in the presence of time-varying delay, fault signals, external disturbances, and elliptical eccentricity.