Abstract: Unexpected centroid shift of the aircraft can alter model parameters, leading to additional moments that can degrade controller performance. To address these issues, this paper proposes an L1 adaptive robust control strategy based on nonlinear dynamic inversion. First, a dynamic model of the aircraft accounting for centroid shifts was constructed, and its attitude angle and angular velocity dynamics were transformed into affine nonlinear forms. Next, a cascaded dual-loop nonlinear controller for attitude angle-angular velocity was designed. The inner loop of angular velocity employs L1 adaptive dynamic inversion control, while the outer loop for attitude angle uses incremental nonlinear dynamic inversion control. Finally, the stability of incremental nonlinear dynamic inversion and L1 adaptive dynamic inversion control algorithms was demonstrated based on Lyapunov’s theorem, and the effectiveness of the proposed control strategy was verified through numerical simulation.