针对高速变形飞行器在强耦合、参数摄动及多源扰动下的姿态控制问题，本文提出一种基于高阶全驱系统建模的预设性能超螺旋滑模控制方法。首先，基于全驱系统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高阶全驱系统形式，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函数证明系统渐进稳定性。最后，通过模型在环仿真与硬件在环实验，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 (PPC-STSMC) method based on high-order fully actuated system (HOFAS) modeling. Firstly, a high-order attitude dynamics model of the vehicle is established using the HOFAS approach. Through an order-augmentation and term-elimination process, the unmodeled dynamics caused by aerodynamic/structural coupling are attenuated. The nonlinear dynamic equations are transformed into the HOFAS form, and by employing a parametric design for the characteristic polynomial's 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 PPC-based super-twisting sliding mode controller is designed. By constructing time-varying performance boundary functions and robustly constraining attitude control errors. 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 validate its real-time performance and engineering practicability on an embedded platform.