This paper constructs a continuous and smooth extended state observer and disturbance rejection cascade decoupling control technology,which is aimed at the nonlinear attitude model with strong coupling,aerodynamic parameter perturbations and uncertainties in the process of hypersonic vehicle without power re-entry.An ADRC attitude controller is presented for hypersonic vehicle in convenient to the practical application of engineering,and a continuous and smooth extended state observer is designed by constructing qin function to avoid high-frequency chatter during ADRC application process,which solves the problem of ignoring the coupling impact on outer loop that is caused by inner loop in the inner and outer loop controller,and also solves the problems of charged aircraft model,aerodynamic parameters and perturbation boundaries which are difficult to obtain accurately and precisely.Simulation results show the effectiveness of the method.