This study investigates the finite-time attitude tracking problem of spacecraft. We employ finite-time control methods to develop a novel adaptive controller. The controller utilizes a time-varying non-singular adaptive fast terminal sliding mode. The time-varying sliding mode dynamically adjusts the sliding surface morphology. This adjustment enables precise control performance tuning. Additionally, adaptive methods estimate the upper bound of generalized disturbances. This estimation reduces the computational load of the controller. The proposed controller demonstrates high robustness against external disturbances and inertia uncertainties. Lyapunov methods prove the stability of the contr... More >