非仿射非线性系统广泛存在于现实生活中，如近空间飞行器等。考虑到实际系统通常具有不确定性，控制不确定非仿射非线性系统是一项富有挑战性的课题，具有重要的理论意义和应用价值。针对基于模型的不确定非仿射非线性系统跟踪控制器设计，其难点在于如何显性表达控制量以及在线准确地估计未知干扰。本项目为便于控制器设计，采用在线taylor展开及等价变换提出一种适用于全局的近似方法，解决非仿射非线性系统控制量显性表达的难题；利用干扰观测器技术解决在线准确估计系统中的未知干扰的问题；改进积分terminal滑模控制器设计方法，避免其奇异性问题，以便利用terminal滑模有限时间收敛优势；基于以上结果，融合鲁棒自适应控制策略，研究一类不确定非仿射非线性系统跟踪控制器设计方法，使得不确定非仿射非线性系统具有稳定跟踪性能。将研究成果应用于具有非仿射非线性特点的近空间飞行器轨迹控制器设计，并进行三维动画仿真验证。

Non-affine nonlinear systems exist widely in real world, such as near space vehicle. Taking into account that the actual system is often uncertain, how to control the uncertain non-affine nonlinear systems is a challenging subject and it has important theoretical and practical value. Aiming to the uncertain non-affine nonlinear system model which need design tracking controller, the difficulties are to show the input variables in affine form and estimate accurately the unknown disturbance. First, based on on-line taylor expansion or equivalent transformation, a global approximation method is given to solve the problem of the input variables in affine form for non-affine nonlinear systems. Second, the disturbance observer is used to estimate accurately the unknown disturbance in the uncertain non-affine nonlinear system. Third, we improve the integral terminal sliding mode control method to avoid the singularity in the terminal sliding mode controller. So we can use the advantages of finite time in terminal sliding mode. Next, we present a controller design procedure for a class of uncertain non-affine nonlinear system with stable tracking performance. Finally, we use the proposed method to design a trajectory controller for near space vehicle with non-affine nonlinear model, and verify its effectiveness by the three-dimensional simulation.