This article investigates the attitude tracking control problem of a rigid spacecraft under the modeling inaccuracy, environmental disturbance, and input magnitude and rate saturations. A robust controller is proposed based on several nonlinear control methods, including the integral terminal sliding mode control, adaptive control, backstepping control, auxiliary system, and nonlinear observer methods. Within the control framework, a new integral terminal sliding mode surface (ITSMS) is first designed which integrates the fast nonsingular terminal sliding mode surface (FNTSMS) with a first-order filter to achieve the finite time stability without the input singularity problem. And adaptive laws are employed to compensate for the modeling inaccuracy and environmental disturbance with no prior knowledge. To satisfy the input magnitude and rate saturation constraints, a dynamic model in the form of a first-order filter is built up to restrict the dynamics of the actuators, which is then associated with the auxiliary system. Meanwhile, a nonlinear observer is used to avoid calculating the derivative of the expected virtual control signal. Semi-globally uniformly ultimate bounded stability is proved for the closed-loop system, and the tracking errors can converge to small regions around the expected equilibrium in finite time. Finally, numerical simulation results are presented to demonstrate the effectiveness of the proposed controller.
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