This paper presents an improved design for the hypersonic reentry vehicle(HRV) by the trajectory linearization control(TLC) technology for the design of HRV. The physics-based model fails to take into account the external disturbance in the flight envelope in which the stability and control derivatives prove to be nonlinear and time-varying, which is likely in turn to increase the difficulty in keeping the stability of the attitude control system. Therefore, it is of great significance to modulate the unsteady and nonlinear characteristic features of the system parameters so as to overcome the disadvantages of the conventional TLC technology that can only be valid and efficient in the cases when there may exist any minor uncertainties. It is just for this kind of necessity that we have developed a fuzzy-neural disturbance observer(FNDO) based on the B-spline to estimate such uncertainties and disturbances concerned by establishing a new dynamic system. The simulation results gained by using the aforementioned technology and the observer show that it is just due to the innovation of the adaptive trajectory linearization control(ATLC) system. Significant improvement has been realized in the performance and the robustness of the system in addition to its fault tolerance. The paper presents an improved design for the hypersonic reentry vehicle (HRV) by the trajectory linearization control (TLC) technology for the design of HRV. The physics-based model fails to take into account the external disturbance in the flight envelope in which the stability and control derivatives prove to be nonlinear and time-varying, which is likely in turn to increase the difficulty in keeping the stability of the attitude control system. Therefore, it is likely in turn to increase the difficulty in keeping the stability of the attitude control system. so as to overcome the disadvantages of the conventional TLC technology that can only be valid and efficient in the cases when there may exist any minor uncertainties. It is just for this kind of necessity that that we have developed a fuzzy-neural disturbance observer (FNDO) based on the B-spline to estimate such uncertainties and disturbances concerned by establishing a new dynamic system. The simulation results gained by using the combinations of the technologies and the observer show that it is just due to the innovation of the adaptive trajectory linearization control (ATLC) system. Significant improvement has been realized in the performance and the robustness of the system in addition to its fault tolerance.