The aid-sliding technology is the one of key technologies for guided weapons to augment the range and enhance maneuver penetration ability. This technology has a high demand on vehicle's attitude control and the compound control system. Aiming at vehicles controlled by the linkage mode with aerodynamic rudders and gas rudders, the integrated dynamic model is set up and the complete linearization small deviation equations on pitching, yawing and roll loops are elaborated in the derivation. Combined with typical trajectory data, figures of dynamic coefficients are presented, and according to these figures, the vehicle's stability in each phase of the boost gliding trajectory is analyzed. On the basis of the above work, the low altitude point 260s in reentry phase is picked as characteristic point and the attitude control system of this point is designed. Simulation results indicate the correctness of linearization small deviation equations and the validity of the control system. This research can provide helpful reference to stability analysis and designing attitude control system for this kind of vehicles.