The 5-DOF (degrees of freedom)air-floated platform can simultaneously simulate translational and attitude motion. It will provide great help for us to better understand and study the orbital and attitude motion for spacecrafts. By referencing rigid body dynamics and spacecraft attitude dynamics, the translational model and attitude model are constructed. Then according to ADRC(Adaptive Disturbance Rejection Control technique), two controllers are obtained. From the simulation figures we can see the effectiveness and rationality of ADRC.