In this paper, a novel adaptive fast nonsingular terminal sliding mode (FNTSM) control approach is proposed for the robust adaptive finite-time prescribed performance attitude tracking control of spacecraft subject to inertia uncertainties, external disturbances, and input saturation. First, a simple error transformation is introduced to guarantee the attitude tracking errors always stay within the predefined performance bounds. Then, a FNTSM surface is presented based on the transformed attitude tracking errors. Finally, an adaptive FNTSM controller is designed by using the adaptive updating law to estimate the square of the norm of the lumped uncertain term. Rigorous theoretical analysis for the practical finite-time stability of the resulting closed-loop system is provided. The proposed adaptive FNTSM controller can guarantee the attitude tracking errors converge to the arbitrarily small region about zero in finite time within the predefined performance bounds. Benefiting from the adaptive estimation technique, the proposed adaptive FNTSM controller is continuous and the unexpected chattering phenomenon is significantly reduced. Moreover, the prior knowledge on the upper bound of the lumped uncertain term is no longer needed in the control design. Simulation experiments illustrate the effectiveness and superiority of the proposed control approach.

本文针对惯性不确定性，外部扰动和输入饱和的航天器，提出了一种鲁棒的自适应有限时间规定性能姿态跟踪控制的自适应快速非奇异终端滑模（FNTSM）控制方法。首先，引入了简单的误差转换，以确保姿态跟踪误差始终保持在预定义的性能范围内。然后，基于变换后的姿态跟踪误差，提出了一个FNTSM曲面。最后，利用自适应更新定律设计了一种自适应FNTSM控制器，以估计总不确定项范数的平方。提供了对所得闭环系统的实际有限时间稳定性的严格理论分析。所提出的自适应FNTSM控制器可以保证姿态跟踪误差在预定的性能范围内在有限的时间内收敛到零附近的任意小区域。受益于自适应估计技术，所提出的自适应FNTSM控制器是连续的，并且显着减少了意外的颤动现象。此外，在控制设计中不再需要关于总不确定项上限的先验知识。仿真实验说明了所提出的控制方法的有效性和优越性。所提出的自适应FNTSM控制器是连续的，并显着减少了意外的颤动现象。此外，在控制设计中不再需要关于总不确定项上限的先验知识。仿真实验说明了所提出的控制方法的有效性和优越性。所提出的自适应FNTSM控制器是连续的，并显着减少了意外的颤动现象。此外，在控制设计中不再需要关于总不确定项上限的先验知识。仿真实验说明了所提出的控制方法的有效性和优越性。