针对存在不确定的执行机构部分失效故障和未知外界扰动的航天器姿态跟踪控制问题,提出了一种基于自适应快速终端滑模控制的容错控制方法。在没有故障检测与诊断信息的情况下,采用快速终端滑模控制原理,利用自适应算法在线估计得到的故障信息,设计具有鲁棒性的容错控制器,使系统在执行机构故障发生时,能在有限时间内以指数收敛,实现系统有限时间渐近稳定,以及对航天器的容错控制和干扰的抑制。仿真结果表明,与基于普通滑模控制器的容错控制相比,该方法在保证系统鲁棒性和可靠性的同时,具有更快的收敛速率,实现执行机构故障时有效的航天器姿态跟踪控制。 Aiming at the spacecraft attitude tracking control problem with uncertain actuator partial failure and unknown disturbance, a fault tolerant control method based on adaptive rapid terminal sliding mode control is proposed. In the absence of fault detection and diagnosis information, a fast terminal sliding mode control principle is used to estimate the fault information online by using adaptive algorithm. A robust fault-tolerant controller is designed so that when the actuator failure occurs, It converges exponentially in finite time to achieve the asymptotic stability of the system for a limited time, as well as the fault-tolerant control and interference suppression of the spacecraft. The simulation results show that compared with fault-tolerant control based on ordinary sliding mode controller, this method has a faster convergence rate while ensuring robustness and reliability of the system, and achieves effective spacecraft attitude tracking control in the event of actuator failure .