For a class of uncertain nonlinear systems, a new adaptive output feedback control method combining backstepping with active disturbance rejection control is investigated.By introducing the Extended State Observer (ESO), the unknown state of the controlled system is estimated in real time.At the same time, the ESO is used to implement online approximation and compensation of the uncertain terms in the system.The nonlinear filter is used to differentiate the virtual control signal during the backstepping design process, which avoids the complexity explosion problem in the traditional backstepping design control, and an adaptive output feedback controller is designed accordingly.The stability of this control method is proved by Lyapunov function, and it is verified that all signals in the closed-loop system are bounded.Numerical simulation examples further verify the effectiveness of the method.