For the complicated aerodynamics characteristic and severely uncertainty of nonlinear model of a flexible hypersonic vehicle with input constraints, a parameter dependent receding horizon  H_∞ control (PD-RHHC) scheme based on linear parameter varying (LPV) is developed. Firstly, under the condition of considering input constraints and characters of the LPV system, an on-line PD-RHHC strategy is presented based on LMI optimization by introducting the parameter dependent Lyapunov function and relaxation factor. Then, the complicated nonlinear flexible model is transformed into the LPV form by using the function substitution and Tensor-Product model transformation method. And the parameter dependent robust controller is designed for the LPV model of the hypersonic vehicle, to guarantee large scale maneuver of the hypersonic vehicle in fight envelop. The digital simulation results show the effectiveness of the proposed method.