In order to implement tracking control for nonlinear systems with unknown dead-zone inputs,an adaptive dynamic surface control algorithm is proposed based on Extended State Observer (ESO).The function approximator is replaced by ESO to online estimate the uncertain function of each step in backstepping control.An adaptive dynamic surface output feedback controller is constructed based on the backstepping technology.The Tracking Differentiator (TD) is employed to eliminate the problem of large computational load in the conventional backstepping control algorithm.Finally,the stability proof is given and the proposed control method is verified by simulations.The results show that the algorithm has good tracking effects,strong robustness and good anti-interference ability.