Abstract: For the longitudinal motion control issue of hypersonic vehicles subjected to uncertainties, we equivalently divide dynamic disturbances and multiple constraints, longitudinal motion equations of hypersonic vehicles into a velocity subsystem and an altitude subsystem, and propose a robust adaptive anti-disturbance control scheme. Firstly, we develop a fixed-time prescribed performance nonlinear PID velocity tracking control scheme for the velocity subsystem based on the traditional PID control and a fixed-time prescribed performance function. Secondly, we equivalently transform the constrained altitude subsystem into an unconstrained nonlinear system via nonlinear mapping technology to solve the dynamic/steady-state tracking performance and angle of attack constrained problem, and present an auxiliary antisaturation system to tackle the input saturation constraint. Then, we develop a coupled design of neural networks and nonlinear disturbance observers to guarantee accurate approximation and estimation of uncertainties and dynamic disturbances. Finally, we propose a robust adaptive anti-disturbance control scheme for the altitude subsystem based on the dynamic surface control, and the stability of the closed-loop system is rigorously proven with all constraints compliant.