With consideration of attitude control problem for hypersonic vehicle capable of wide-envelop maneuvering flight in the presence of strong nonlinearity and coupling effects, actuator saturation problem, as well as the variations of multiple aerodynamic parameters and external disturbance, and in combination with model-assisted Active Disturbance Rejection Control (ADRC) technique, a Trajectory Linearization Control (TLC) based coordinated control framework with characteristics of anti-saturation and active disturbance rejection is constructed and discussed. Firstly, for the simplicity of control, the attitude and angular rate subsystem is described in strict feedback form with uncertainties. Secondly, based on the principle of ADRC, tracking differentiator is applied to arrange the nominal attitude command and its derivative to handle the actuator saturation problem existed in TLC design. Extended state observers with model information incorporated are designed in dual-loop to estimate the lumped disturbances to reduce the effects on tracking performances. Thirdly, based on the principle of TLC, feedforward tracking law and stabilizing control law are developed, based on which, attitude tracking error can be stabilized along the nominal command. The simulation results show that the proposed control scheme exhibits great robustness against multiple disturbances during reentry flight, and anti-disturbance control with high precision under large guidance command can be satisfied.