针对高速变形飞行器（HMV）在强耦合、参数摄动及多源扰动下的姿态控制问题，提出一种基于高阶全驱系统（HOFAS）建模的预设性能超螺旋滑模控制（STSMC）方法。首先，基于HOFAS方法构建飞行器高阶姿态动力学模型，通过增阶消元削弱气动/结构耦合引起的未建模动态，并将非线性动力学方程转化为HOFAS形式，利用特征多项式系数矩阵的参数化设计，实现状态变量的解耦与控制分离。其次，针对变形过程中气动参数时变与外界干扰的复合不确定性影响以及考虑执行机构动态响应特性，设计基于预设性能控制（PPC）的超螺旋滑模控制器，通过构造时变性能边界函数，鲁棒约束姿态控制误差，并利用Lyapunov函数证明系统渐近稳定性。最后，通过模型在环（MIL）仿真与硬件在环（HIL）实验，验证了所述姿态控制器的各项性能，该方法显著降低了控制抖振，并在机载嵌入式平台中验证了算法的实时性和工程可用性。

To address the attitude control problem for High-speed Morphing Vehicles （HMVs） under strong coupling， parameter perturbations， and multi-source disturbances， this paper proposes a prescribed performance Super-Twisting Sliding Mode Control （STSMC） method based on High-Order Fully-Actuated Systems （HOFAS） modeling. Firstly， a high-order attitude dynamics model of the vehicle is established using the HOFAS approach. Through dynamic extension and variable elimination， the unmodeled dynamics induced by aerodynamic/structural coupling are mitigated， and the nonlinear dynamic equations are transformed into the HOFAS form. Through the parametric design for the characteristic polynomial coefficient matrix， the decoupling of state variables and separation of control are achieved. Secondly， to handle the lumped uncertainties arising from time-varying aerodynamic parameters during morphing and external disturbances， while also considering the dynamic response characteristics of the actuators， a super-twisting sliding mode controller based on Prescribed Performance Control （PPC） is designed. By constructing time-varying performance boundary functions， the controller robustly constrains attitude control errors and the asymptotic stability of the system is proven using a Lyapunov function. Finally， the performance of the proposed attitude controller is verified through Model-in-the-Loop （MIL） simulations and Hardware-in-the-Loop （HIL） experiments. The results demonstrate that the proposed method significantly reduces control chattering and validates its real-time performance and engineering practicability on an embedded platform.