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For actuator saturation problem of the hypersonic vehicle which is a complex nonlinear uncertain system, research is done based on designing nonlinear backstepping control law. The error of actuators is used to compensate. When the controller overruns, it can come back immediately.Combine error compensation with robust adaptive backstepping control to realize system can satisfy the limits of actuator deflection amplitude, while restraining system’s uncertainties influence. The wavelet neural network and robust items are designed to make the whole control system has the gain which is less than or equal to the prescribed positive const.The nonlinear control law is effective through the simulation. 