In view of tracking control problem of input-constrained waverider vehicles,an estimation-free prescribed performance control scheme is proposed. Firstly, a new anti-saturation compensation system is designed to address the possible problem of actuator saturation. Then, the states of the compensation system are used to construct new prescribed performance transformed errors, and the controller is designed directly using the constructed new prescribed performance transformed errors based on the prescribed performance control and backstepping control methods. Then, a new prescribed performance transition error is constructed using the compensated system state, and low-complexity controllers without estimation are designed for the velocity subsystem and the altitude subsystem based on the method of prescribed performance control and backstepping control. The superiority of this method is that it eliminates the need for state estimation and neural approximation, which significantly reduces the complexity and computation of the control. Based on Lyapunov stability theory,it was proved that all transformed errors and tracking errors of the system are ultimately uniformly bounded. Finally,the effectiveness of the provided method are validated via numerical simulation.