For the aircraft with redundant multiple control effectors, a nonlinear controller is designed, which is composed
of a virtual control law and a dynamic control allocation with unknown bounded parameters and effector constraints. Based on the set stability theory in the sense of Lyapunov stability, global asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method, and the estimations of unknown parameters converge to the actual values.