针对非合作航天器被成功捕获后所形成的组合航天器的位姿控制任务，考虑系统中含有的未知扰动的影响，设计了一种基于全驱系统方法的自适应预设性能控制器。根据欧拉姿态动力学方程和轨道动力学方程，建立了简洁的组合航天器位姿动力学方程；通过引入预设性能函数，对组合航天器位姿误差的瞬态和稳态性能进行约束；进一步应用全驱系统方法，对带有未知扰动的组合航天器位姿误差系统设计自适应预设性能控制器；此外，通过构造Lyapunov函数证明了所提出的控制器的稳定性；最后，数值仿真结果和半物理仿真实验结果表明，在所设计的控制器作用下，组合航天器能够实现精确的位姿控制，同时系统的状态误差始终收敛于预设性能包络内，验证了所设计控制器的有效性和实用性。

An adaptive prescribed performance controller based on the fully actuated system approach is designed for the position and attitude control of the combined spacecraft formed after the successful capture of the non-cooperative spacecraft， considering the influence of unknown disturbance in the combined spacecraft system. A combined spacecraft position and attitude dynamics equation is established based on the Euler's attitude dynamics equation and the orbit dynamics model. The transient and steady-state performance of the combined spacecraft position and attitude error is constrained by introducing a prescribed performance function. Furthermore， the adaptive prescribed performance controller is designed for the combined spacecraft state error system with unknown disturbance by applying the fully actuated system approach. In addition， the proposed adaptive prescribed performance controller is proved by constructing the Lyapunov function. Finally， the numerical simulation results based on the combined spacecraft system model and the experimental results obtained from the semi-physical simulation platform show that under the action of the designed controller， the combined spacecraft can achieve accurate position and attitude control and the state error of the system is always within the prescribed performance envelope， which verifies the effectiveness and practicality of the designed controller.