本文研究了一类组合航天器的高阶全驱（high-order fully actuated, HOFA）抗干扰控制，其干扰包括具有未知参数的输入端干扰和常值外部干扰。首先，引入一种一般化的离散时间高阶全驱后向差分（step backward）模型，并对其中的两种干扰分别进行了干扰估计。其次，基于HOFA 系统框架，设计了基于干扰观测器的复合控制器，不仅可以有效抑制干扰，而且能够得到一个可任意配置特征结构的闭环系统。然后，利用参数化方法，分别建立了观测器增益矩阵和反馈控制矩阵的完全参数化形式。最后，所提方法被应用于一类实际组合航天器模拟器，仿真和实验结果充分说明了所提方法的有效性。

This paper investigates the high-order fully actuated (HOFA) anti-disturbance control for a type of actual combined spacecraft with disturbances including input disturbances with unknown parameters and constant external disturbances. First, a generalized discrete-time step backward HOFA model is introduced, and the disturbances are estimated for each of the two disturbances. Then, based on the HOFA system framework, a composite controller based on the disturbance observer is designed, which can not only effectively suppress disturbances, but also obtain a closed-loop system with an arbitrarily assignable eigenstructure. Secondly, complete parameterized forms of the observer gain matrix and the feedback control matrix are established respectively by using the parameterization method. Finally, the proposed method is applied to a type of actual combined spacecraft simulator, and simulation and experimental results fully demonstrate the effectiveness of the proposed method.