The bus voltage plays a key role in the safe and stable operation of the DC microgrid system. The voltage regulation process of the bidirectional DC converter presents the characteristics of uncertaintynonlinearity and strong coupling. Meanwhilethe controllability of the system is significantly decreased due to sensor failure. These complicated factors greatly reduce the stability of the bus voltage under the dynamical changes of the system. To solve these problemsfirstlythe virtual operation scenario is constructed with the help of the state feedback linearization techniqueand an estimator is designed to simulate the state information to reconstruct the virtual scenario systematically. Secondlyby using the reconstructed state informationthe adaptive control method and the backstepping method are combined to obtain an adaptive nonlinear control schemewhich effectively ensures the safe and stable operation of the system in case of the complicated external factors and internal fails. Finallythe MATLAB/Simulink simulation results verify the effectiveness of the proposed scheme.