针对存在外部干扰和惯性不确定性的航天器姿态跟踪问题，本文提出一种指定时间自适应保性能控制策略。首先，基于修正罗德里格斯参数建立姿态运动学、动力学及跟踪误差模型；通过构造单调型预设边界函数与误差转换函数，将受约束跟踪问题转化为等效无约束问题，并建立用户可调性能指标（包括稳态精度、收敛时间与超调量）之间的定量映射关系。进一步，设计一种指数-多项式组合的时变增益函数，以保障系统状态从暂态到稳态的光滑过渡，避免因控制律切换导致的非光滑行为。在此基础上，构建自适应模糊保性能控制器，确保姿态跟踪误差在指定时间内收敛至原点邻域，并严格满足预设性能约束。基于Lyapunov稳定性理论，证明闭环系统所有信号一致最终有界，并通过数值仿真验证了所提控制策略的有效性与工程适用性。
In this paper, a specified-time adaptive guaranteed-performance control scheme is proposed for the spacecraft attitude track-ing control problem under external disturbances and inertial uncertainties. First, the attitude kinematics, dynamics, and track-ing error models are established based on the modified Rodrigues parameters. By transforming the constrained tracking prob-lem into an unconstrained one via monotonic preset performance and error transformation functions, a quantitative mapping is established among user-tunable performance indices (steady-state accuracy, convergence time, and overshoot). Further-more, an exponential-polynomial combined time-varying gain function is designed to ensure a smooth transition of the system state from the transient to the steady-state phase, thereby avoiding non-smooth behaviors caused by control law switching. On this basis, an adaptive fuzzy guaranteed performance controller is developed to ensure that the attitude tracking error converges to a neighborhood of the origin within the prescribed time while strictly satisfying the preset performance constraints. Based on Lyapunov stability theory, it is proven that all signals in the closed-loop system are uniformly ultimately bounded, and the effectiveness and engineering applicability of the proposed strategy are verified through numerical simulations.
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