<p>Controllers designed based on modern control theories mostly rely on precise mathematical and physical models of the aircraft. The hypersonic cruise vehicle has the characteristics of high-speed flight, strong nonlinearity, serious channel coupling, and strong model uncertainty. It is difficult to establish a completely precision dynamic model with many uncertainties during actual flight. A sliding mode control method based on command compensator is proposed to deal with the model uncertainty of the hypersonic cruise vehicle, which consists of command compensator and anti-chattering sliding mode controller. The sign function of the standard sliding mode controller is replaced by the saturation function to eliminate the control chattering phenomenon. The control deviation caused by the model uncertainty is compensated by command compensator. The anti-chattering sliding mode controller is used to realize the high-precision control of the velocity and altitude. The stability analysis and numerical simulation are carried out to verify the validity of the proposed anti-chattering sliding mode control method based on command compensator. The stability analysis results show that the proposed method can ensure the asymptotic stability of the control system, and the simulation results show that the proposed method has strong deviation suppression ability with model uncertainty. The proposed method can realize the high-precision control of the velocity and altitude.</p>