The novel non-contact spacecraft can achieve physical vibration isolation through the non-contact Lorentz actuator (NCLA), thereby providing ultra-high payload pointing accuracy and stability. However, due to the change in the relative position of magnet and coil, the NCLA can ensure accurate control input only in the linear working range, but not in the entire air-clearance range. To address this problem, this paper proposes an adaptive finite-time observer for the external and inner disturbance torques caused by the nonlinear effect of the NCLA. Moreover, a novel non-singular terminal sliding mode controller is proposed to guarantee the non-contact spacecraft architecture can rapidly enter into the linear range of the NCLA with a small air-clearance range constraint in a complex external environment. Simulations and experiments are conducted on the air-bearing platform with dual five-degree-of-freedom to verify the feasibility and effectiveness of the proposed approach.

新型非接触式航天器可通过非接触式洛伦兹致动器（NCLA）实现物理隔振，从而提供超高载荷指向精度和稳定性。但是，由于磁铁和线圈相对位置的变化，NCLA只能在线性工作范围内保证精确的控制输入，而不能在整个气隙范围内保证精确控制输入。为了解决这个问题，本文提出了一种自适应有限时间观测器，用于由 NCLA 的非线性效应引起的外部和内部扰动转矩。此外，提出了一种新颖的非奇异终端滑模控制器，以保证非接触航天器结构在复杂的外部环境中能够以较小的净空范围约束快速进入NCLA的线性范围。